No judgement from me, as this is you we are talking about. I think this is the kind of thing that a sex surrogate might help with. You aren't just trying to get off, you are wanting to explore how your sexual responses work following an injury.
It is a deep shame that your husband, whose children you bore which resulted in this injury, has not been able to provide you the intimacy and the space to explore this with him. That is what couples who love each other, and want to have sex with each other long term do. They find a way to overcome physical sexual difficulties in order to maintain marital intimacy; though it may be excruciating, take patience, and even fail and be embarrassing, they do try.
Instead he took the easier route to achieving sexual satisfaction for himself by visiting prostitutes. No risk of failure there. That isn't a real man.
I think you need to confront him in therapy with the reality that you are supposed to be sexual partners, but he hasn't provided you with a space in which you can explore what you need for sexual satisfaction, to the point that you are so unconvinced of his ability to do so that you are considering outsourcing the job.
And I think you need to consider whether you want to remain married to a man who has broken the explicit and implicit contract of marriage in the way that he has.