What can I do if my attorney and defense attorney are dragging my case out for years?

I was in a serious MVA over 10 years ago when I was 40. I was a passenger in a car hit by a commercial truck. The truck driver was deemed 100% at fault. My lawyer filed suit almost 8 1/2 years ago. The injuries I sustained in the accident led me to become permanently disabled 6 years ago. I was awarded full SSDI benefits. My problem is I feel like my lawyer has really dragged his feet. He's been telling me for the past CPL years that we're almost ready for arbitration but than nothing. He finally had me meet with a vocational doctor 8 months ago to wrap up our case. He had the final report within a CPL weeks. He said at that time, the defense lawyers may want me to meet with their own expert and have me see another of their doctors. Nothing's happened since then. Months ago, he told me they (he & defense lawyers) were trying to coordinate their schedules to set-up these appointments but it might be tough because it was summer. Now we're heading into November and he just told me the other lawyers are trying to find a doctor. I told him how unhappy I am with all of this. I've requested several times that he get my case settled. He tells me to hang in there. I feel like I'm getting screwed by both sides. I am in dire need of money and I've told him how waiting for this settlement is draining me financially, emotionally, and physically. I don't know if it would be financially viable to fire him now & start over with a new lawyer. Could I contact the judge or the court to help me get these lawyers to get to work? Thank you for your help.