What Type of Lawyer would we need for child custody

You should be talking to an attorney who knows child custody practice, especially in your local county.  First, you will want to know what the court does in cases where the child will be 18 and there will be no custody jurisdiction.  Second, you need to be clear in your own mind about specific changes in the order.   It is hard when parents have differing philosophies about children, and teenagers exploit that. 

But it depends what relief you are seeking.  If you want the father to do more, the court may not require that.  Custody orders provide minimum rights to the one who does not have primary custody.  But it does not tell them what to do with the child when they have custody or require that they exercise it as much as they are allowed.