I am of the school of thought that you MUST do what you have to do to take care of YOUR family. These services are put in place for a reason, and we expect them to be used by folks that need them. yes, there are now, and will always be many who abuse, and bend the rules to get more. (my sister is one of them)
If your insurance/medical costs are overwhelming your family and finances, its time to get help. if that is social services then so be it. Once you get on the wagon, many doors can and will open. I dont view it as giving up, nor as a cheat. its a valid way to keep your head above water, to keep your family fed, clothed, and keep the roof over their heads. If you were just sitting home whining about your pimples, or depressed because a g/f left you college or you were passed over for a promotion, this would be different. you have been diagnosed with a quailfying disease, and have the war wounds to show for it.
If it were me (prepared for the egging) I would take the social services, and start saving my money for rainy days, and ways to care for and comfort my family.
you are loved and respected in many circles. I hope you are able to make a decision and know that no matter what you chose, you are still loved and respected in many circles.