A short answer is "no".
Moses and Elijah, two Old Testament heroes met with Jesus at ‘The Transfiguration’ when God spoke and said: “This is my Son with whom I am well pleased. Listen to Him.” (Mt. 17:1-9). Those two guys had been dead for 500 years by then!
When Jesus told the story of heaven and hell, with the rich man in hell; there were other people with him in heaven.
See ‘The Rich Man and Lazarus’ (Luke 16:19-31) (see Bible Stories, the first one).
Paul wrote to encourage the believers in a city called Corinth, that the troubles they were having from persecution would not last forever: “For we know that when this tent (body) we live in is taken down - we will have wonderful new bodies in heaven, homes that will be ours for evermore, made for us by God.” (2.Cor.5:1).
On one occasion a sick lady ‘…touched the hem of his garment’ and was healed.
Jesus said: “Who touched me? I felt power go out from me.” (Mark 5:25-34). Be assured people get helped today, as in the time when Jesus was here, but not everyone. And that happened in Jesus time too, not everyone.
I have MET one very much-changed lady who was lost in the South China Sea on a child’s dugout canoe - drifting around in the ocean for three days and two nights. This lady, Michelle Hamilton, had told her mum that she: “…did not need this Jesus thank you.” Jesus had very recently transformed her mum’s life. God, or His messenger spoke very clearly to Michelle ten or more times. Even repeated the statement: “You are not going to die.”
In my 78 years I have never heard of God’s messenger repeating what he had just said when asked to.
Michelle was a most independently-minded girl but by the third day was in very poor shape and needed help. She saw an island and it looked very good to her so she paddled towards it. Voice: “Don’t go that way, turn around and go the other way.” Michelle of course knew that was silly, she wanted her feet on solid ground and kept going. But her canoe was picked up by an unseen hand and thrown in the opposite direction. She swam after it and soon met her rescue boat. It was manned by Christian fishermen. They thought she was: “an Americano Mermaid”. They were very poor with almost no education. They were amazingly kind and generous.
Her book, A Mighty Tempest, is amazing reading and is filled with many miracles.
She now lives in Sydney (see www.michellehamilton.com.au for more info about how it all happened).
So, how could Jesus help sick people and those in trouble? In His own way – not always when we ask, but miracles still happen and we all must use the medical help that is readily available.