I'm 16 years old but I want to be emancipated.?

I have alot going on with my parents are separated. My parents and I do not get along. My dad keeps kicking me of the house and then always begging me to come back. I had alot of emotional abuse going on with my family along with physical abuse from the past. Things have changed but with the emotional abuse happening from both my parents I can only handle so much. Ive been going to church getting my life together but my parents are very unsupportive of me going. I'm going on a missionary trip to Costa Rica next month but my parents are being very difficult in me going. My mom left me stranded in my old town when visiting my siblings. She yelled at me telling me to go kill myself. She accused of not caring for my family, saying I'm selfish and stupid. My mom left the family first. She would go out to the club, come home late and drunk, and then later on she didn't come home at all. Which left my older sister and me to take care of my younger siblings. I'm tired of getting kicked out, manipulated, accused, criticized, and all the emotional abuse. I don't know what else I can do. I feel that the more I'm around it I will lose my sanity. I've been to a mental hospital and been on medication before, but now i don't think I would considered being helped. Ive been feeling suicidal and have almost attempts several of times, but I try to keep myself from because I love my siblings and I want to be there for them. My family is tearing apart. And I just don't want to be around it all anymore.