Physical & Emotional Abuse Support Group
Abuse is a general term for the treatment of someone that causes some kind of harm (to the abused person, to the abusers themselves, or to someone else) that is unlawful or wrongful. No one deserves abuse, period. Abuse can be emotional, physical, or sexual.

Of what you had said, "or myself and my children and have no self esteem to get away safely." Do you really need self esteem to protect your kids, even yourself? Everything he tells you to bring you down, are all lies, you shouldn't believe a word he tells you.
Is he abusing your kids?
The child support laws seem similar to where I live as well: "Georgia child support guidelines uses the Percentage of Income formula which calculates the support obligation as a percentage of the income of the non-custodial parent who is obligated to support the child".
It looks like he'd just have to support ONE child, since the others are grown, he should not even gripe...but you know, they always do. It'll just make him look ridiculous.
Your lawyer is misinforming you, and not diong the job. There are lawyers who give free consultations. Finding a good one could make a big difference in the way you're feeling right now. Do your research, check reviews online, ask for referrals.
I see you are in pain and sick? Are you able to work? This might be something else to consider with your attorney: Spousal support! Here is more re: GA - "After reviewing your case, the attorney may then determine that spousal support is necessary. It will be the job of the judge to determine whether or not one spouse is entitled to financial support". Experts will tell you, abuse makes us sick. Something to read up on when you get the chance...
No harm in asking your attorney.
I'm sorry you are having such a hard time. Your H is full of BS; I know it's hard to imagine now, but there is life after abuse. When you're able to, please start counseling for all of the trauma you've endured.
Best of luck!