Do you have the 'leg/foot lifter' ? That was my go-to. Positioned my 'correct' foot heal on 2" extended box spring as leverage for that foot/leg. Then, 'operated' leg raised w/let lifter. Had to use palm of hands to catapult backwards @ an angle onto mattress. Sounds complicated but worked well as 'routine/habit' when necessary for up to 6 wks after surgery. Also assisted a bit as I moved in-&-out of car as a passenger. Plus the' 3foot length grabber for items on the floor or assistance w/putting on pajama bottoms & sox, plus a reacher for items above raised arm level.
I even dropped tiny pills on floor & reacher able to pick-up. BTW, I was fortunate, although I woke up every 2 hrs--I could only sleep average 5hrs/night until 7th week. Best to you