Complex sentence: Therefore, they have chosen several handicapped/disinherited children that would not miss their life on Earth, to become the inheritors of their legacy, and thus they will be taken to a new world, where their handicaps will be healed.
Split into simpler sentences: Therefore, they have chosen several handicapped/disinherited children that would not miss their life on Earth, to become the inheritors of their legacy. And thus they will be taken to a new world, where their handicaps will be healed.