I wanna help my parents out..?

My parents have a ton of debt from me (because i have been a very sick kid with endometriosis, they took my appendex and gall bladder out and recently i got taken to the ER because i had a siezure and was unrespondsive) So that all costs them alot, we are just barely making it with everything. Is there way i can help my parents since all the debt is from me? Im going to college in the fall and i dont make much at my job, it takes my whole paycheck on gas pretty much. I feel so bad for causeing my parents debt, they are getting older and deserve a brake so they can relax and enjoy the simple things in life...