I remember that feeling well! The key here is to NOT try to fix too many problems at once! Here's my advice, based on what we did with our son:
Put a pack-n-play by your bed.
Nurse him to sleep (if you're still doing that) and place him in the pack-n-play. Much easier to soothe him and put him back this way!
Keep doing this, even if he sometimes still ends up sleeping in bed with you for a little while.
Once he's spending the whole night in the pack-n-play, slowly ease it toward the far side of the room. (Take your time with this- maybe a week or so!)
Once he's sleeping across the room for at least a week, then you can make the switch to a crib in the other room. Keep the pack-n-play up though. My son would start in the crib, and end up in the pack-n-play at first.
If you take your time with this, then he will definitely get used to his crib! We got our son out of our bed and into his crib in less than a month. Without any major screaming fits! After that, you can start working on helping him soothe himself to sleep. (Which will help you get more sleep too!)
Good luck! His crib will be a wonderful and cuddly place, once he's used to it. Have faith! :)