I want to find some tools to assess the comprehensive rehabilitation needs of children/adults wtih disability, including educational needs, vocational needs, medical needs and social needs.
I had a look and the majority of tools seemed to relate to learning disability, but this paper, at the end of the abstract, the authors state: "Our findings may serve as a resource for researchers who are working to develop valid tools to assess needs of families with children with disabilities, and such a tool can be instrumental in tuning the care processes to the individual needs of these families." Although it discusses children, perhaps there might be something relevant to your requirements:
Siebes, R., Ketelaar, M., Gorter, J. W., Alsem, M., & Jongmans, M. J. (2012). Needs of families with children who have a physical disability: a literature review. Critical Reviews™ in Physical and Rehabilitation Medicine, 24(1-2).