How do I deal with my negative and controlling mother that lives with me?

She gets mad when I leave her at home and go anywhere? My mother is 81 and lives with me, my husband and 2 kids of 14 and 12. We all feel trapped like in prison. We are not allowed to leave the house without her.W e are scared to go to the movies or drive around together like we use to. She gets jealous if she does not get to go..So we stay home or just take her everywhere with us. She got mad at me one time last year when I took my daughter to the mall alone and left her home, I wanted to spend alone time with my little girl, Well when I got home my mother was crying in her bed then that next day asked me for a gun to kill herself, That was done in front of my kids. My 14 year old son has developed nervous tics now. I am scared of going downstairs every morning not knowing what her mood will be. I feel I have lost my life as well as my husband and kids too..She is very controlling and is always angry if she does not get her way. I am very depressed because of my life, I feel alone and get no help from my sisters, They tell me just to deal with it and they are tired of hearing about my complaining.I try everything to keep my mom happy so there is piece in the home and nothing makes her happy. I have panic attacks every day. She is making me feel sick. I feel emotionally broken down and I don`t know what to do anymore...