In Urdu we have a specific word for "visiting the sick" , however, in English we do not. We just simply say "visiting the sick" or inquiring about their health, and when we want to state that we went to a certain place to visit someone who isn't well, we just say it simply: "I went to visit so and so who isn't feeling very well/who is ill" etc. Listen to the short clip to see how we say it.