Is it permissible to continue working in a company when the unlawfulness of dealing with it has become known, in order to recover the capital and donate the profits to the poor, bearing in mind the need for money to pay off personal debts and for medical treatment?

As long as you have learned that working with this company is forbidden, it is not permissible for you to continue with it, even if it is for the purpose of donating what you earn from it to the poor; for Allah is good and accepts only what is good, and charity from ill-gotten gains is not accepted. If it is incumbent upon you to leave this forbidden work, then you must seek Allah's help, earnestly supplicate, and strive to find lawful work. Be patient and have a good opinion of Allah Almighty.