OK---I see what you're saying. However, if you file for divorce, a good lawyer can see to it that you get a good cash settlement. If you are in a "community property" state, you are entitled to half the assets acquired during the marriage. Also, since you are unable to work, you can collect disability payments. The Domestic Abuse Hotline can get you started sorting out everything. Clearly, you are not happy in your present situation. Wouldn't you rather be alone and perhaps poorer but safe and happy? If you have a good relationship with your grown children (which it sounds like you do), then they will be around to give you emotional and physical (helping you with physical chores) support when you need it.
Good luck with the marriage counseling. It's your call, of course, but personally, I think it won't be worth the time and money...