Based on the very sparse facts set forth, unlikely. There is a three (3) year statute of limitations on personal injury actions (3 years from date if incident which caused injury) and it sounds like you knew within that three year period that you had sustained an injury, but chose not to take any action. If so, any action is now barred because more than three years have passed.
No attorney-client relatonship is created in responding to this question, and advice provided is based solely on very limited facts presented, and therefore may not be correct. You are advised that it is always best to contact a competent and experienced with the practice of law in the county in which you reside, particularly as it relates to family law, child support, custody and visitation (a/k/a "parenting time") issues, including 209A abuse-prevention restraining orders (a/k/a "ROs" in legal-speak), regarding un-emancipated children, under the age of 22.