I am a bit younger than you, and am not ready to make the change yet. But I think, when that time comes I will make the decision to move into a retirement flat before I actually HAVE to, if you see what I mean.
I believe it will give me a little peace of mind should anything change for me healthwise, and my children would know that I have support if I should need it. They are all helpful and kind, but cannot be on hand all the time.
I envisage being more independent in a retirement facility that I have chosen, than I would be if I began to find things getting too much in my current home.
It's obviously important to pick the right place to move to - and that can take some time to find, another reason to do it at leisure rather than when forced to through circumstances.