His abuse has more than likely affected them to the point that they would benefit also. Go talk to a divorce lawyer. In most cases like this he will have to pay for the divorce and he will certainly have to pay you child support and carry health insurance on the children. Contact your local Mental Health agency and they can recommend a counselor for you and the kids that will charge on a sliding scale based on your ability to pay. If the abuse continues after you have filed for divorce, get a restraining order against him.
Nobody deserves to live with emotional abuse.
After a while it batters the mind and soul, bashes self-esteem and totally smothers the victim. Most of us were raised to believe that marriage is forever, but sometimes things happen that are beyond our control and the only solution is divorce. He obviously doesn't believe that he has a problem and will not change. For the sake of yourself and your children, get this abuser out of your life.