What is the ruling on frequent discharge of madhiy and the inability to distinguish between reality and illusion, and a mother's inspection of her son that removes his modesty, and the consequent failure to pray?

You are afflicted with waswas (whispers/obsessive thoughts), and your cure is to ignore them and not pay them any attention. Live your life normally. When you relieve yourself, pour water on the organ until you are reasonably sure it is clean. Reasonable certainty is sufficient; absolute certainty is not required. Do not pay attention to any illusion of something coming out unless you have absolute certainty that you can swear by. It is not permissible for your mother to look at or touch your awrah (private parts) without necessity. Ignore the waswas, for this is the only cure.