Yes frequently. I spend about 50% of my life using crutches, but as such am registered disabled so have a blue badge which means things like going to the shop are slightly easier than they will be for you.
I taught my DS to climb up to my level very young - so he climbed up to the changing station and getting up and down of the floor is a problem. Likewise if he wants/needs a cuddle he has to climb up to me in a chair. He learnt to climb up in to the pushchair. And the car seat. So if possible I would start teaching the youngest one this NOW.
Also before DH goes out to work make sure he has got everything you need in the right area of the house. Before DS could manage the stairs he had a sleeping area downstairs - worth considerind if your youngest can't climb upstairs for naps. Also DS went in to a bed early, again so he could climb in to it.
Also all games etc are played at a little table not on the floor as it's difficult getting up and down.
Use a rucksack rather than a shoulder bag if you go out. Youngest goes on reins (whatever you think) or pushchair if leaning on that can replace the crutches. Eldest holds on to the bottom of your coat. But as you aren't used to them I would avoid going out and get shopping ordered in an maybe arrange friends to come over to help.
But I seriously recommend putting in the groundwork now, especially with the youngest. DS is 2.5 now and he does everything for himself that he can - carries his drinks, plate, moves his step around to reach things etc. He's had to learn from a young age there are some things Mummy just can't do and so we work together to make them happen.
Good luck, hope all goes ok.