How can I appear to the judge without being arrested if I have a bench warrant that I didn’t know I had?

I was contacted by a PO. He took me to jail. Once in jail, he accused me of swallowing drugs and took me to the hospital but results were negative. Still, he wanted me to sign authorization to do something to me. I refused to it. It was not necessary based on the results. PO ordered to do that on me. I woke up 2 days later with my left side of body without sensitivity. I still am. I never went to jail. Since then, I have been calling every week to ask for any court date. All they said that there were no charges on me. Last thing I know, I have a bench warrant for DUI being under the influence. Nothing of that is true. I have witnesses, evidences and proofs.