@brokenk,
Do what my mom did when she caught my dad cheating. Shame him in front of his/your kids about his actions. Shame him to his family and friends. Make sure he really wants to fix this relationship. 4 years of letting him get away with this? and he haven't stopped? he won't going to stop if 4 years didn't help. Go to a professional marriage counselor/therapist once you know he really wants to work this out because he needs to be honest during the therapist session about everything in order to get professional accurate advice. If he has not changed after a year, or even caught again within 5 years, then you have to let him go.
I also suggest to start making a plan for a divorce. gather evidence for winning child custody and save it somewhere safe. Start making a plan what you can and will do if a divorce a year from now is what will happen. Better prepare for the worst, and keep your hopes when you see a counselor/therapist.