Marriage with no intimacy?

We have incompatible drives. Mine is much higher than my husbands. I did suspect this before I married him and had two kids but I did not think it would lead to such heartache. He has a very low self esteem coming from an abusive childhood and also has small genitalia (not sure whether this is relevant). I have tried to boost him up but every discussion he sees as me blaming him. We have no intimacy left in our marriage and even plesantries have stopped. I have stopped talking and so has he. He watches tv every night then goes to bed in his room and I go to bed in mine. Sad, lonely and rejected I cannot see a way through this, please help