It's not actually called a divorce... but you can take steps, with the assistance of an adult or an attorney... to achieve a similar objective.  You can seek to have his rights restricted or terminated as to you, especially since you were one of his victims.  You can also seek to be emancipated from him.  The first angle is actually easier than emancipation.  Look to victim programs in your area to find out what resources are available to your or your mom within your jurisdiction.