You may need your own attorney as an "interested party" to challenge the guardianship which has apparently been imposed on your parents. Certainly you should consult an elder law specialist, which I am not. Your father appears entitled potentially to VA benefits, rather than medicare alone, and there seems to be a house involved. Consult an elder law attorney, now.
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I agree with Mr. Boone. You have to retain your own attorney who will be more responsive to your concerns and zealous in making the best case for you in an adversarial system. Only you can decide whether this is worth the investment. A court appointed attorney will try to do his best to represent you, but has a lot of cases and a big workload, and quite frankly, seems to have decided that your case is not as meritorious as your adversaries.
Somehow, the "system" has concluded that your parents are better served by a guardian rather than you, and you have to do what you can through a more skilled and committed advocate to dispel this perception.
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You can retain an attorney as an interested party. However, as an experienced attorney your questions raises red flags when you say that the doctors report is not true. Why would a disinterested doctor file a false report?