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You would need an attorney to file the incorrigibility petition, as this will entail having to put on medical experts and psychological experts to testify that it is not safe for him to be in your home. The court could order him placed in another facility, but they can also make you or your insurance pay those costs as he still is your child and you are legally responsible for his care.
The court could also potentially make him a ward of the state
depending on the severity of his condition based on the medical expert testimony and if they make him a ward of the state then the state would be liable for at least a portion of his care, although you could be still liable for some reimbursement to the state.
The judge could indeed order him to continue at the same facility or be moved to state inpatient facility.
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