First, you should report this to the authorities. That should be your number one consideration. Second, after you have helped them with their investigation, you should consider consulting with a personal injury attorney in your area.
You need to call your local police immediately and file a police report. Anything can be considered a deadly weapon, including hands and feet. It would be considered a family violence offense with regard to your ex-boyfriend and a regular assault with regards to the other people. It sounds like your injuries were severe enough that it may be categorized as Assault Causing Serious Bodily Injury, which is a felony. They could also be charged with unlawful restraint or kidnapping.
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I agree with the other lawyers who advise you to contact police and make a report. It is family violence as it involved the father of your children. It would be an assault as well as a kidnapping.
A criminal prosecution could result in some compensation to you for your expenses. A civil lawsuit must be brought within 2 years of the incident.