How do I do this?

[Randomsunshineovermull]

Please can someone share some advice I’m desperate and don’t know what to do. I want to seperate from my husband as he’s useless and I’m fed up of looking after him (of course it’s more complex but that sums it up in a few words) he’s refusing to listen to me. I managed to get him to leave for a week while my mum was staying but now she’s gone he’s moved back in and he’s just refusing to pick up after himself, do anything.
I’m a full time carer to our daughter so don’t work, our finances are a mess so I can’t afford to move out and obviously can’t get any benefits as I’m joint owner of our home. He doesn’t have to leave as he owns the house but I can’t go on like this, I do t know what to do.