Can CPS take my child from me for having panic attacks?

I've been seeing a doctor for 3 months now and she recomended counseling so I called a place called family outreach and their main goal is to stop abuse in families but the also have counseling for what I'm going through. They have one on one /couples/ fam counceling etc. I also read on their web site that they try to keep families from having a CPS case. I'm just scared that they will see as unfit mom when I'm still capable of being a good one. I just want to get back to normal. I really hope me trying to get help doesn't backfire on my family