How can I perform prayer with urine leakage and an inability to change clothes five times a day, especially since my health condition prevents me from moving and makes me dependent on my elderly father?

Allah does not burden a soul beyond its capacity. A person afflicted with urinary incontinence must fulfill as much as they can of the conditions and pillars of prayer, and what they are unable to do is waived for them. So, they should perform ablution for each prayer after its time has begun, and pray the obligatory and supererogatory prayers with that same ablution, while taking precautions with a cloth to prevent the spread of impurity. They should purify any impurity that affects them by washing the area or changing clothes if they are able; otherwise, they should pray according to their condition.