Stipends for PhD students in the United States is typically between $20,000 and $30,000. Students can live comfortably for that money, but not sure if it is enough for a family of three. A lot depends on what part of the US you are in. Prices in one state could be much higher or lower than other states.
If you learn to do things that you need to do - then someday - you can do things that you want to do.