You need marriage and individual counseling....LOTS of it! But yes, I think there is hope. You can't do it alone though, you need outside help.
As this website will warn you, there are some good counselors and there are some who will actually harm your marriage. I suggest you start by calling one of the coaches here on this site.
I feel sad for your situation! Its hard to believe you've never had sex with your own husband...but I think if you seek the right type of help you two can recover.
