Medicare, not outside the context of medically necessary services. Near the end of life, if you opt for hospice, there may be some personal care offered.
Medicaid is a different matter; every state differs, and usually some
paid home care is possible, including paying certain family members for care, so if you might qualify, you might want to explore that. Disability policies and long term care insurance may provide some benefits as well, if you are covered by either.
If none of these works for you, many of us hired part-time help privately, often students, semi-retired or retired. There are several threads here on recruitment via online postings, word of mouth, etc., but it boils down to, cast a wide net.
Best,
Laurie