The first thing you must do, no matter what your ultimate goal, is get that depression diagnosed and treated so it is not interfering with your ability to learn & participate. Depression is insidious and it seeps away your motivation on a daily basis, this is exactly what cannot happen both for the initial process of qualifying for med school, but also for the 'drinking from a fire hose' experience which is med school and then residency.
If you did poorly on your first few years (and flunking a term means none of those classes count, as a matter of fact any class in which you have a C- or lower does not count for med school) then it is of paramount importance that you figure out the solution before proceeding.
Can you take a medical leave from your school? When you later return to school you essentially need all As, you need to be ready to attack every single class. I have seen students remediate their bad transcript and be successful in grad schools via this type of history and stellar ECs, but I don't know about medical school.
I think the important thing is that there is a line drawn, everything before the line is the bad stuff, everything after the line needs to be good. Don't rush it, because once you cross that self-drawn line, it really better be all good to prove that you had a problem and you solved it. Don't get caught up in the idea that you need to keep going straight through, it's better to take a break and get yourself together. Do not rush the return, make sure you are ready. You might even try a summer class retake of one of your bad grades to see how you do before you jump into the full time term.