Most definitely yes, I would inform DVLA for advice.
Read the above assuming the OP had his HGV for lorries, didn’t think of a RV.
When I was Marshaling festivals we had a guy came regularly to events, had only one leg. Who was still a working As an H G V driver. He had a 5th wheel rig too.I know 2 full time lorry drivers both of whom have HGV / LGV licences both of whom have no legs, both have blue badges.
You should use a GV 1 form to inform the DVLA of any medical condition that affects your entitlement to drive an HGV ,seek advice from your Doctor first it may be you dont need to inform normally he will inform them should you need special controls etc.If due to arthritis you cannot walk more than 60 mtrs and apply for an invalid parking badge, will it affect your HGV entitlement?