What is the best way to proceed?

My grandmother is 78 and her will is very outdated (from the 1980s). The will states the family's house that we all live in would go to my mom. My mom was recently diagnosed with stage IV breast cancer. My grandma has been in the ICU over 10 times in the past couple of years. It's possible that both of them soon will no longer be with us. My family wishes to update their will, and/or just sell or transfer the house to me at this time. The house has approx $30k in loans from two banks on it with an appraisal value of $120k. My mom and grandma both have additional credit card debt. We are also currently signing up in a program where I will take care of my mom at home (and maybe my grandma too) and be paid from Medicaid. With all these things to be factored in, we are hoping to find a best route to proceed so that hopefully our house remains in the family in the best possible way.