What to do with my father-in-law? My marriage is falling apart.

I'm 25, married and a mother of two. One is six, one is seven. My husband and I have been taking care of his father who is 65 and has lived with us for the past year. We moved him in with us because he was living 6 hrs away and alone, even though he has fathered 6 kids and been married 4 times. He had quintuple bipass 4 yrs ago when he lived with us before. He has also been a type one diabetic who frequently takes too much insulin, causing him to have reactions. I am the only one who takes care of him, out of some unknown guilt. But I am tired of it. He is capable of doing lots on his own- bathing, making himself food, cleaning, etc. BUT he doesn't. He doesn't bathe daily, he has reactions because he is too busy looking up political propaganda on the Internet, and I am left cleaning HIS pubic hair off the toilet in the bathroom that he and my children ONLY use. I want him out of my house. However, none of his other children want to do anything to help and my husband works in the oilfield so he's always working or tired. It has now caused fights between him and I. My father in law has nothing to his name, except a car I refuse to let him drive. This is because he has had reactions while driving, once he ran through an abandoned(thankfully) house and the vehicle is registered to my husband. We could be held legally liable. He lives off of social security which is only $1200. He wasted all his money on stupid crap and still continues too except for the $300 I charge him in rent. My husband and I have started talking divorce. I love my husband very much but this is not what I want out of life. He cannot afford assisted living, does not qualify for a home because he really isn't in horrible health minus his reactions. I hide in my room to "get away," my kids have said resentful things about our situation. I have no privacy to have any intimacy with my husband. Some one tell me what to do. I'm desperate at this point.