Sometimes you do need to help them. I have done it before with some of my nicest birds & they were no sicker, or weaker, or in any way deformed, etc., than any of the ones that hatched on their own. (I have a really nice Polish chick & a silkie chick in my brooder right now that I helped out two weeks ago; they seem to be fine, so far, so good. I think you just have to keep an eye on the eggs & try to do what you feel is best at the time. It's often a judgment call & sometimes the chick still does not make it.
The British magazine Poultry Press had a two-issue article about assisting hatches one time a few years ago, with pictures included. (You can watch how others do it on Youtube. There is even a video of a lady helping a twin egg hatch which was a double yolk egg that had both yolks fertilized & two separate chicks developed, so there was one chick coming out from the narrow end like yours.) She shows you in great detail how she did it.
Most importantly you have to be careful when you see fresh blood & stop a while (a hour of so) & put them back in the incubator. Then carefully try it again a little later on. The one pipping at the small end may especially need your help.
Good luck - I hope they all make it.