what kind of papers he has on you that makes the doctor think he's not a bad guy?
what kind of advice would you like us to give?
you say it's difficult to leave your husband. but that would be my advice, to separate from him. he refuses to admit he has a problem, and he beats you. how can you enjoy life and be content and take care of your children in this enviroment.
my mother dealt with this from my father for 22 years. she had four kids, and we were all effected by this for a long time.
you have to figure out a way to leave him. i can see if he accepts that he has a problem and he is willing to change but he is not. that means you will live the rest of your life with him beating you.