'stuck in the salon' with a 'cooler full of beer' watching the world drift by while someone else does the gruntwork - nice work if you can get it!
Personal mobility questions adressed to himself below - do not answer if you don't want to. It's easier to prescribe if we know what you can and cannot do.
(If you prefer, I am garybooks2012 at the googly commercial mail facility.)
Can you walk at all, or transfer to a mobility device? Trying to minimize the weight added to the boom, I am thinking of a snatch-block mounted over the hatchway with a cable running to a roller-furling-like winch, with a hand control you can use to raise or lower yourself. How do you get around in the cockpit & salon? How is your upper-body & arm strength? Have you looked at swimming-pool lifts?