Lawyers may be expensive, but issues involving health and disability are complex, and change on a regular basis. For this reason, you should seek legal help if you get in over your head. Fortunately, there are many firms who specialize in the field, and you can probably find one in your area with a quick Internet search.
One way to find lawyer that specializes in health and disability issues is to network -- ask around among the people you know, and see if they've worked with such a lawyer or law firm. You're more likely to get an unbiased opinion on potential lawyers than you would from any other source.