Is it permissible for me to look at and touch my friend's 'awrah in order to help him relieve himself, perform ghusl, and change his clothes, especially since he is unable to do so due to his broken arms?

It is permissible for a brother to purify his colleague from impurity and dress him in his clothes, while obligated to cover him and avert his gaze as much as possible, if the colleague is unable to do so. Necessity is assessed by its measure, and his ruling is like that of a doctor in terms of looking and touching.