I tripped on a broken sidewalk and smashed my kneecap! Whose fault is it?

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Jim and I were walking the dog this afternoon. Yoda was terribly excited and even Jim was having a problem keeping him in a straight line. Jim decided on a different route (I don't like to take Yoda the same way more than 2 days because he gets bored) today; Yoda even did his business quickly and was enjoying the neighborhood. Coming home, Jim tried to get Yoda to pick up the pace (he was worried about being late for work) and got a bit ahead of me. I have multiple sclerosis, and for many years, I walked with my head down because I wasn't confident in my gait. But today I was looking ahead at Jim, and suddenly I came upon a particularly rough patch of sidewalk. One edge sticks up about 3 or 4 inches, and that's where I got tripped up. I landed hard on my left knee, hitting my hands and was unable to stop-I even hit my nose hard enough to start a nose bleed! Jim didn't even hear me hit the ground-it was when I cried out after I hit before he turned around. I was crying (which I don't do often) and at first refused to move. My left knee was throbbing and it was hard for me to get to an upright position because I was afraid to bend it. A woman in the neighborhood came over and asked if everything was alright; she called 911 and then went home to get me some tissues because my nose had started bleeding. Soon, the police and ambulance showed up, and then neighbors started popping up. Jim had run Yoda home, and came back with my phone (which had my ID). Two people helped me to a standing position and I leaned against the porch behind me. The paramedic looked at the way I was standing, and then asked me if I had MS-it shocked me because no one ever knows unless I tell them. I refused to take a ride to a hospital (no health insurance), my knee was bandaged up and now I've been home about 5 hours. My knee is starting to throb (I had it bent too much), but other than some scrapes and the bandage, I'm no worse for the wear. We'll see tomorrow how I feel. And I'm calling the zoning office (at the suggestion of the officer); the water company had done some repair work to the sidewalk in the past, but now it's severely damaged. If they don't take responsibility for the sidewalk, I'll be contacting the owner of the property. I hope it doesn't get serious, but if my knee is permanently damaged (my kneecap hit the sidewalk pretty hard), someone had better be prepared to pay for this. I've never pursued a legal case involving my own injury before-have you ever had to fight for medical expenses to be covered? I'm not even sure exactly who is responsible in this case.