Need advice!!!!

Chevy
When my son was born I was the o my one there besides my dad to support my little boy,With everything. So I decided to leave my son's father because he refused to help do anything besides play video games. Well fast forward to this past August. My son has lived with me his entire life. I have been the only one In His life besides when his dad decided to spend time with him. In August his father nd his new girlfriend decided to keep my son away from me and refused to give him back I called the cops multiple times and there was nothing they could do. His father filed for temporary custody and claimed I was abusive mentally and physically. We went to court and battled it out. The judge never heard my side of the story. Only what my son's father had to say. We now have joint custody and my son lives with me 6 months out of the year every other month. And opposite months I have him on weekends. Getting to the point..... It bothers me ALOT that my son isn't home with me where he deserves to be. I know what' the truth is behind everything and it upsets me to the point where I cry endlessly. And I can't sleep because of it. Being mom is what I'm good at its what I'm supposed to be. I just don't know how to handle it all. I want my son's life to be half way normal and don't want him Being used like a pawn by his father. What should I do? Should I seek out professional help for the anxiety and depression it's causing me? Ugh can handle it much longer.