Your first step is to move financial control AWAY from your parents, but you probably already knew that.
You are home during the day, take time and make phone calls. Are you living off of a trust fund from a lawsuit from your car accident? Are you living off of Social Security disability and your parents are trustees for you? Whatever your situation you need to move it out of your parent’s hands. Move financial control into the hands of a county worker, a private worker (even if you have to pay them a fee) or someone else, immediately. Same with your wife.
I believe it will be nearly impossible to stand up to your parents as long as they wield control over you financially. They will fuss, scream, get angry and do all sorts of things but you already know that too. Tell them you need to feel more like a man and don’t want to go to your parents all the time for things, that you still love them but you need to take this step to feel like a grown man. You would rather go to a stranger for money than your mother, yes that is true because a grown man can negotiate like a man with a stranger, not like a little boy with his mommy.
It is wonderful that your mother saved your life, but you don’t need to pay her back by allowing her to abuse your daughter’s life. Your daughter doesn’t need to pay the price for what was done for you. This won’t be easy, please be assured of my prayers.