Sorry for your situation.
There is a guardianship of the person and guardianship of possessions. I understand not wanting to "mess up their finances" but you should be more concerned for their health since both are living in the same conditions. If the home is a bad as you say, your father is not taking care of himself either. If he won't help move her to an assisted living facility a guardianship may be the only choice.
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You need guardian of the person. For this you must hire a guardianship attorney. Avvo.com should yield results for an experienced elder law or guardianship attorney in your area. Good Luck!
While your father is doing his best as caregiver, it doesn't sound like he is fully capable of handling the situation himself. This is a very common situation. Unfortunately the only solution may be for you to petition the court for a guardianship. The important consideration should be your mother's health. You need to consult with an elder law attorney to review your options.