Did you have a contractor come out and look to see what the problem is?
If you need money to fix the problem you may be able to refinance to a 15 year loan and borrow the money to fix the problem. This may lower you monthly payment.
Why do you want the home paid off when you die? You can not take it with you and you need to take care of yourself first and not worry about your heirs.
Contact the county to get in the lottery when the next SHIP funds become available. It will give you a zero interest loan to fix up your kitchen floor if your income is below average. See the info below:
In the meantime, maybe you can find a 2nd job to earn the money to repair your kitchen and/or remove expenses from your budget, i.e. cable tv, cell phone, eating out etc.
I also suggest http://www.DaveRamsey.com and his Financial Peace university. Classes are offered in your area and it will help you to get your financials in order so you will have an emergency fund for situations like this.
All the best,