Can i get what i want????

i was wondering if anybody knew of a chance that i could get custody of my twin daughters, supervised visitation, and child support. i believe that one of my daughters was ually abused by her uncle when her father was incarcerated and i dont want him to have unsupervised visits with them because the uncle lives with their dad. would it be possible to get all that i want if i have evidence that this abuse happened. and if it is possible how do i go about gettign what i want?