pleassee help me...

hello!i'm planning to visit my grandparents in Hawaii next yr(January to be exact)..I'm working here in Greece at a bank,i have a dual citizensip German/Filipino that's why i can avail the visa waiver program...the thing is i can only stay there for 90 days,my grandfather is 84 yrs old now and he's suffering from high blood and my grandmother is 77 she has a diabetes and poor eyesight in fact her left eye it cannot see anymore,one time she told me when she went to a marketplace she suddenly fainted with the help of the 2 stranger ladies she rushed in to the nearest hospital,they need someone to sees them and accompany them They petition my aunt in the Philippines and it was approvd dated june1993 until now she didn't get married though she has 2 kids and she's still WAITING!!My grandparents told me i am there only hope to be with them,i said whatever happen i will go there nxt yr and do everything to guide you.can i hire a lawyer to help us with my case?or can we ask their doctor to give us a request that they need someone to be with them because of their old age and condtion..plase i need advise!!!Thanks and Godbless