Problems with ESA

in 2014 I went on e.s.a because of my depression/ knees and back I went to the doctors and she put me on tablets... I got 9 points on my esesment medical which was a joke, dwp then put me in a suport  group for 12 months after they canceled my e.s.a because I didn't pass the allocated points on the medical again.. this debate went on for months. and stressed me even more, I found out if your condition has changed you can apeal. my scan now shows advance osteoarthritis in both knees and my back, so I have done two mandatory reconsiderations and they have failed my last medical before Christmas this year I couldn't understand the lady doing  the medical, and I had to sit in the chair for an hour most of the stuff I told her she's not even put down...on top of my condition my depression was not great in the medical and was not offerd any support, she told me to turn over my hands and measured my calf muscles then about 5 weeks later my letter said I failed again..

It's no  just the forms my medical X-ray's and scans that tell everyone who needs to know what's going on.. I've sent medical evidence certificates notes etc...and my condition is worse that last time I claimed..and my doctor wrote to D.w.p this system is failing me and others