Telepathy ants

Despite the name, these are not animals, but rather tiny robotic creatures. They are meant to form a telepathic connection with the patient, and then do their bidding for small, simple tasks.
The initial development was rather random, an attempt by a scientist to attempt something unique, but their employer swiftly realized that this had broad applications for those whose limbs might not be capable of doing everything anymore. Telepathy ants cannot walk for a paraplegic, but they can be used to feed oneself, move small objects without assistance, or perhaps simply wave hello. The connection allows people whose minds are still sharp but whose bodies are failing them to still perform many tasks on their own.
They look like ants from far away, but up close the block-like forms make it clear that they are mechanical in nature.

Access & Availability

It is not always readily available in every country, but the technology is being spread far and wide and many determined scientists are working to make it cheaper and easier to use. As such, it is becoming more and more widely available for those who need it, and before two more generations have passed I would almost guarantee that it will become entirely commonplace and easily available for all who need it.

Complexity

This is a solely scientific technology, not a magical one, but it is one of the few such things that a magic user might use. It is one of the more complicated designs I know of, in terms of the delicacy of the robotic parts. There's also the fact that these tiny creations are meant to be capable of performing some relatively complex mechanisms, which means the computer chips have to be appropriately capable.
Another element that adds complication is the installation of the telepathic component. Even those with existing telepathic abilities will need to have a chip installed in their brain to allow them to control the ants. This surgery is complicated and must be performed by a skilled surgeon.