How far away are they from each other?
Can he take public transportation (train, bus) to her and back?
Can a family member go and pick her up- get it in court order
that he can assign someone to pick her up.
If he has a dr note, or even have the dr testify that he can not drive so that part is not in question. Lawyer should focus on what is in the best interest in the kids to see both parents. He can offer to pay her gas for each visit, make the child support
a few dollars more to cover it.
If he is close to their school, can they get bussed to his house from school (change the times to get them). Schools will usually bus to both parents houses.