Need advice on how to domesticate Semi Feral Kitten?

I adopted two very sick Singapore street kittens, at they time the vet said they where about 4 weeks old and they now are 11 months old. The boy kitten was instantly affectionate and came running to me on the street he had severe diarrhea and his whole body was covered in it. I then heard his sister stuck up a drain pipe, tried to get her out that did not go well and in the end my husband had to get leather gardening cloves and drag her out, while she hissed and scratched and put on a fight. The little boy is the most affectionate thing, constantly follows me everywhere and just loves my dogs and two older cats. The little girl for the next 4 months spent her life hiding in her bed under a towel. She hissed at me everytime she saw me and would eat when dark then run away. She has a very close bond with her brother and they adore each other, he is definetley her security blanket. When she was about 6 months things changed the two older cats finally accepted the kittens and as long as they behave and don't jump on them all is well and they have learn't the hard way about running up and surprise attacking the old cats. She also at this time started socialising with my other pets and us and at night time when we eat outside would come and sit next to us at the table and we would give her chicken pieces which really worked. When she was full she would still sit there looking at us. She started looking at us lovingly and would blink at us all the time and we would do the slow blink back. But any fast moves she is out of there so I had to sit quietly around her. Now at 11 months she waits for me to get up in the morning talks to me follows me to get the food and will sit with me while she eats as long as you don't make any fast moves. About a month ago I had a breakthrough with her she finally accepted food from my hand and will either tap my hand to get me to drop it or sometimes takes it with her mouth. She does not hiss at me anymore, and I can sneak in a little touch of her foot or side of her body, she will jump back from me but will come back in a minute to eat. I don't expect her to be a lap cat but wish I could pick her up as my husband & I are concerned that we can not take her to the vet and if she ever got sick and needed medication this is going to be a problem. The last attempt we had to corner her in a room and throw a towel on her and she went completely crazy, though she is very small for her age, about the size of a normal 5 month kitten she is extremley strong. I'm scared to go through that again. Please let me know if anyone has any suggestions/tips on how I can get her to just let me stroke her. Knowing where I started she has come along way and I keep making a fuss out of her everyday so she feels love but just can't believe she wont let me pet her. Any advice appreciated....