need some advice

In the past 2 years. I have gone to Court 9 times over the same matter. to get Joint and Physical Custody of a Daughter.
While i was marry i had a relation and know i have a daughter. I went 4 times to court to get Joint Custody but was deny 4 times . the Judge would not Explain why. but gave all rights to the Mother. The mother of my Daughter wants me to give up my rights But I refuse. She has done everything she could for me not to see her. A restrainning was set by the Court. for neither family to come close to each other. So on 09/06/2000 I hire a lawyer to defend my Rights. I spent to much money and nothing was done. I have no rights and now I cant even see my Daughter. I fire my Lawyer because i never help me. he just took my money and time.He was always late to court and sometimes he Dissapear. he never took the time to revuew the case.

Do I have the rights to sue him for Malpractice and damage done to me and my other 2 childern who also have rights.