"Essential Workers" in the Age of COVID-19 include--perhaps especially--nurses, doctors, and other medical workers. They are the ones willing to touch the diseased and disgusting things going on in our bodies to heal them.
Likewise, Jesus teaches, in this passage, that the heart is the source of all darkness and spiritual disease that we might deal with in life. Disciples follow Jesus in being willing to touch these places, to heal them. Disciples of Jesus are those whose hearts are cleansed by his blood. Now we can go into all the world bringing that healing to others.