Feel stuck in a bad situation not sure what to do?

I am 35 and live at home. I am miserable. I work sometimes. My mom expects me to wait on my dad hand and foot ,because they can’t keep a visiting nurse for more 2 or 3 days.I also take care of my nephews. My mom gets mad at me for working and says I am selfish and need to be here full time. My mom also gets mad when she gets woke up because ,my dad wakes up and starts fights in the middle of the night, because he thinks I steal off him.I am sleeping elsewhere and I am selfish for not being there at night all the time.Even if I don’t fight back, it is my fault. My dad won’t even let me take a shower or watch what I want on tv. He broke my tablet because I watching Colbert with my earbuds in.
He also follows me around the kitchen trying to slam into me because it is his kitchen.
My sister in law smears me all over the place saying I sponge off my parents.I am sick of the shit but I am in debt and don’t know if I can get a place. I am afraid the police won’t believe that he physically hurts me. My mom says she will take my dad’s side if the cops come and so will the neighbours and I won’t last in prison or a mental hospital.They put me in a mental hospital before and the nurses saw right through them.