Should I use money from my IRA to pay off my credit card debt

I currently have 3 credit cards at $15,000 each. We are paying at least $1000 a month for all 3 cards to basically make the minimum payment for each card. I have approximately $185,000 in the IRA. I am 52 and plan on retiring in 10 years or less. My income is good but we struggle making all the bills, like the house payment, utilities and food with the 3 large credit cards bills. I have no car payment but we do need a new car , however, I cannot afford one at this time. Every month is a struggle to make ends meet. My credit rating is suffering as well, due to late payments. And the credit have been raising our interest rates making our minimum payment go up. I know what put us here and we have made changes to stop that. We have been very frugal over the last 2 years, but it is still not enough. Fortunately we have been healthy, so we have not had any large medical bills. My thoughts are, take out enough to pay for at least 2 cards, then focus on paying off the other card. By paying off the cards quickly, I can then take a portion of the amount I was paying toward the cards and put it in my company 401k. I will get a match of funds from company, reduced income tax and will build up my retirement account, while being able to not stress out on making all my bill payments.