Can i take my mom to court and win?

My mom is 96 years old, she has senile dementia. I am the only child and only living heir to the estate. We do have some cousins but no other immediate family members living. In January 2012 mom fell and broke her femur (right leg) it was a bad brake and the bone shattered. She was living alone and i helped her with cooking, grocery shopping, paying bills etc. The entire estate was in my name, After surgery she was never the same. Her mind had changed After a month stay at a rehab home she was discharged back to her home, i stayed with her from end of march to june 14, 2012. During this time she became paranoid about her money and possessions. She accused me of stealing and became violent even tried to stab me with a knife. At this time i was at the end of my rope with her and had caregiver fatigue. I tried to get her to go to assisted living but she refused and i tried to get her to sign over durable power of attorney but again refused. She has a non realtive friend that she used to work with that suggested to me that i should take a vacation from mom and go home and give mom time to calm down. I wasn't out of the house 24 hours and her friend took over. Every time i called mom would hang up. The next thing i know her friend has durable power of attorney. I wasn't made aware of this paper work until it was done. Her friend told me she had to have this power of attorney to get mom on hospice. Now she has taken my name off the house and all bank accounts. The estate has all of the family heirlooms, money, cars,. house and even things that i purchased over the years, I have spoke with an attorney and i want guardianship and conservatorship over my mom and her entire estate. My mom told me she didn't want anything to do with me. I have done alot of reading about people with dementia and everything my mom has done and said falls into the symptoms and guidelines of how elders present themselves with this dabilitating desease. I have been told by my mom prior to her surgery how much she loved me and all that was left was her and i and if anything ever happened to her i would get everything she had. Now that has been taken away, by her friend and my moms mental status. To make things worse my mom and i bought a car last year 2011 for me and i paid all the registration, sales tax and license fee and all insurance, but the title was in moms name and listed me as transfer on death. Mom and her friend show up at my house with the police and took the car and is now trying to sell it for 50 percent less than its worth. My mom has alot of anxiety and hate towards me because she calms she can't trust me (i have never stolen anything from her) I have only tried to help her took care of her house and dog and stayed with her after she came home from rehab. I was out of my home for 5 months. About 4 weeks after i left mom loaned out her car to the friend or the friends son wrecked it. Mom had a brand new 2011 chevy that is now wrecked and the car she purchased for me is still sitting in the garage,. Just 2 weeks ago mom accused the neighbor of stealing from her. She went into one of her psycotic episodes and starting banging her head against the garage cupboards, hitting herself in the head with her hand and slamming her walker up and down on the floor saying i can't take anymore of this. I don't trust moms friend and friends family. According to moms neighbors they are there all the time, but when i was there caring for mom they never showed up. I am looking for advice and suggestions as if you know anyone else who has gone through this. I miss my mom and the time we spent together. Moms friend has never called me or kept my informed as to what is going on. I am entitled to my birth rights. This case is in the state of missouri. I should me the one and only one caring for mom, not an outsider. Do i have a case to take to court or am i wasting my money? Signed broken hearted.