How can I get a stubborn & controlling spouse to sign the divorce papers or am I stuck in the prison of abuse?

I've been in an emotionally abusive relationship for over 30 years. We have been separated for 3. I want a divorce and sued him for it... but he won't sign the papers..not even with the judge there.He contested divorce and says he's changed...but I want to be free. He has not changed, he is still controlling. He can pull the wool over anyones eyes, even the judge who doesn't understand why I want to leave such a good man....He is sick but well enough to use it. He fakes suicide, lies to doctors and in parking lot of hospital says if I divorce him he will do it again. He told judge he has changed...his dead brother talks to him and the judge didn't even bat an eye upon hearing this. I want to be free to grow and heal... and maybe in the future find the 'right' man, an emotionally healthy man,but right now I want a divorce...I won't even take alimony...help...what else can I do? I need professional advice, not just any comment from those who don't know what they are talking about.