Really Need to write this out.

[GrandizerII]

Sounds like you're dealing with a crap judge who is pretty ignorant when it comes to matters of psychological abuse. But that aside, the law unfortunately is very black or white, so when it comes to emotional/verbal abuse, there's not much that can be done about that legally. Still, the judge could have shown some empathy for you and your mother and not act like a "flying monkey" for your brother.