Okay, no phone calls. A letter / e-mail can serve as a medium to communicate where you draw the line and the consequences of their actions. No need to meet face to face, no risk of violent outbursts at your presence.
What do you hope to achieve by seeing a counselor ? To rewire your thoughts ? To become a impregnable person, the adult ? To purge the master-slave ideas ? You did not seem receptive (no feedback) when that was mentioned. It sounds a bit like, wanting to tell your ordeals to whoever is in earshot.
On calling the police, think for a second if your father gets convicted and attain a criminal record, would you not regret that ? Would a criminal record not implicate anything ? And ehh...if daddy gets sacked for whatever reasons linked to mild assault at you, does it mean you are going to increase his allowance ? If you really think they are going to inflict real harm, then go to the police.
On the side note, has it occurred to you these days at this forum, some people think mental disorder could be the source of problems ? Sometimes, it is just bad behavior, but that is overlooked and used as an excuse for their beloved ones. Sure, there are mental cases but be careful not to simply `diagnose`, after all, there are experts for that.