How do you have a relative committed if he acts seemingly normal in front of doctors?

I won’t say who, but this person’s been a tyrant all his life. At home, he behaves like a helpless baby, only this helpless baby shouts, and screams, and throws things and beats people up. He’s lazy, he’s never been disciplined, he doesn’t do anything around the house, he’s unemployed/unemployable, but the worst part is, he has no scruples! I do everything for him, his phone calls, his doctor appointments (he wants attention, and has resorted to cutting his foot–which he’s developed an ulcer on since then, and he’s a diabetic so that doesn’t help matters much–with rusty wire cutters); I shave his neck, trim his nose hairs, even wash the moron’s back…I mean everything little itty bitty thing, besides chew his food for him. I dress his stinky infected foot, for which I should be commended b/c he won’t let anyone else do it, but me! And it’s black and about to fall off! He goes around all day calling people names, 24/7! He pretends he can’t see, so now I have to drive him everywhere!
he’s given up his car, rather, he couldn’t pass his drive test, so the dmv suspended his license. he lies in bed or all over the couches all day, blowing his nose all over the dang place, bossing people around, and making these strange animal sounds (it’s like living in the jungle). he’s 62 yrs old and he has NO common sense, no morals, no values, no ethics, nothing, yet the other day when the doctors at the free clinic evaluated him for depression, they asked him, “what do you like to do for fun/hobbies, etc?” and you know what he had the gaul to say? he said in his spare time he likes to help people! the nerve of him! he does nothing but hold ME back. i haven’t had a life w/ him since day i (surprise surprise, he’s my father, i’m 33, and guess what? b/c of him (and my mother, the moron, is no help) i don’t have a life of my own, i am forced to live w/ them, take care of their expenses, buy their groceries, shuttle them around everywhere (none of them drive), be a secretary, a vet…
a nurse, the cable guy, a plumber, a gardner, a lawyer, a magician! i DO mean everything! at any rate, back to my original question, how do you have someone committed if he acts seemingly normal in front of doctors? no one knows him for the person he is at home, they only see him when he’s out in public, on his hind legs, tail b/w his legs! he saves all his hostility for ME at home. what should i do? how do i prove he’s 1) bipolar 2) depressed 3) a tyrant 4) helpless etc? he needs round the clock care, he can’t cook or even make a sandwhich, the last time he tried to boil water, he nearly set the house on fire. who do i turn to? what do i do? he beat the crap out of my mother yrs ago, i called the cops on him, but he ran off before they could arrest him, and my mother dropped the charges! any advice? (besides leave, b/c that would require money on my part which i don’t have). how do i get HIM committed (to the boobie hatch–where he belongs)?
i wish i could get some kind of documentation, like pictures/video/written statements, but i doubt he’d let me stand before him and snap a picture of me dressing his foot! i’d have to have a hidden camera mounted somewhere, to record his behavior. then i’m going to need to find a shrink to evaluate him who knows all the russian swear words! hard to believe he goes around giving other people advice, but can’t help HIMSELF. he does ask for help, from ME. he wants attention, he goes around all day telling me what his sugars are (just recently he started checking his own blood sugars, up until now i’ve been doing that for him too), he reports to me the consistency of his stool every time he has a bowel movement, and i swear, literally, 24/7 he says “i can’t see, i can’t see, i can’t see”and get this, when i’m driving him, he points everything out to me, watch out for this, and careful of that! talk about your backseat “blind” driver! even the eye doctor told him, you have yrs to go before
we can consider you legally blind! but ok, i’m going to try to get a hold of his doctor (and this won’t be easy, he goes to the free clinic and doesn’t have a steady doctor) and explain to him his behavior, and show his disability records (he’s cut his foot several times in the last couple yrs), and hope they believe me. maybe they’ll order a psych consult or evaluate him further. if this doesn’t help, i’m just gonna take myself and my free meds (i’m sicker than he is) and walk right out the door, at least i’ll get away w/ my life, if not w/ my health and sanity! thanks for your help! i appreciate it.