Legal Question in Health Care Law in Iowa

My mother has a court order to take meds. She has never like taking meds. The meds are for her mental health and when she don't take them she is a threat to herself and others. She was under the care of my dad and then stop taking the meds. He had her committed for a few days because she did not take the meds. She is know living with her dad and sister for the past year. They picked her up from the hospital. She is not taking her meds over there we know because she is a different person when she's taking them. When she don't she can't drive and she leaves the stove on. The problem is she has been fearful of her father her whole life. She told me and my dad she wanted to come home. Her father who hates my dad know is taking advantage of her. This hurts I know my mother is not in her right mind and we can't prove she is not taking the meds over there so the court said she can stay in my grandfathers care. She has been there a year and us getting worse even her doctor came to the hearing and said she should be in the care of her husband. They said that even though she has these big mental problems she still has her rights. She is staying over there because she don't have to take the meds. They wont let her leave the house or talk to anyone who tries to go see her. We live in the state of Iowa is there anything we can do to get her help and away from that situation?

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