Your emotional pain is very evident, and I empathize with you. Unfortunately, there isn't a lot that can be done other than maybe hiring additional and/or different attorneys who will take on the cause. With your father so far gone, however, it may be too late. I wish you luck and God-speed!
The Guardianship process is designed to address problems like the one you've described. Obviously it's not working for you. You indicated that the judge and your lawyers don't see the whole picture. One solution would be to talk with them about retaining an expert in elder abuse and/or geriatrics who can help tell your family's story.
Adult Protective Services exists to help families in crisis like your's... There are plenty of laws out there, you've got to get an agency interested in helping your family in its time of need.