How do i get outta this...?

how do i get emancipated from my family? i mean i kinda kno how but im livin a real hard ruff life n im tired of this. i tried lockin my dad up cuz he's abusive n shii but all theyve been giving him is warnings n im the only 1 takin care of my bro n he basically calls me mom n my moms a workaholic or what ever n im just tired of this. like how do i get emancipated n like what do i say to the judge? how old do u have to b in PA? im pretty sure its 16.