Apparently back in 2002 you had an original offer for a 60/40 split, didn't meet sales targets, and had it go to 50/50. You have been in consultation with your lawyer about this, and have chosen to keep working at that level of compensation.

Then in 2007 you were asked to sign a new contract. Rather than doing so, you changed the terms from a 50/50 split to an 80/20 split in your favor along with a few other changes, returned the contract with those unauthorized changes. This has apparently angered the company, and they've changed your territory and have been enforcing rules requiring you to reimburse them for certain expenses. Once again, you appear to have been in consultation with your lawyer throughout this time.

If your lawyer can't find any legal cause of action resulting from their actions, the odds are low we will be able to figure out your remedy from a giant block of text. (It's not about being "new to this site" - it's about making it feasible to read and understand what you're trying to tell us. That applies in any context.)

If you care to share what your laywer told you, maybe somebody can react. But be careful about that, as among the instructions you ignored when posting, such as being concise and using paragraphs, were the ones about not using a username that will identify you or disclosing information that could identify you. I suspect that if the medical company came across this thread they would know exactly who you are.