As Chris says, you can put the house into an inter vivos trust (a lifetime trust) so that you can remain living in it as long as you need and it can then go to family members.
HOWEVER, this is not guaranteed to work. If the asset is placed into trust when the potential for care is looming or it is a "substantial reason" for placing it in trust, the donor is deemed to still possess the capital and a charge will be placed against the property.
There is no time limit as to how far back the LA can go. Mind you, this has not actually been tested in court yet (but watch this space!!)