Legal rights to get rid of unwanted houseguest?

I live in Pa and let my elderly father move back into my home because his sister no longer wanted to deal with him. Here's my problem, my father is runing my family. He causes nothing but problems and is causing a strain on everyone invloved. My wife has high blood pressure and was recently on the verge of a stroke and had to be hospitalized. My father is most of the cause of her stress because of all the problems he causes within our household. He won't do anything I ask him to do, which isn't much. I don't ask him to get a job or to even clean the house. He is just very spiteful and does all he can to cause problems. So I was wondering if I had any legal rights abiding me to him, there is nothing wrong with him, he has to health issues, no serious medical condinitions, in fact he is in well health.. but I can no longer deal with the problems he's causing in my home and was wondering how to get him out of my house once and for all.. Any help would be appreciated. Thanks!