What can I do if the insurance refused to cover my father medical and car damages because of my previous vehicle accident?

I was in a vehicle accident and didn't have insurance at the time. The other person did but denied being at fault. Police report says it was undetermined who was at fault but does say the other person hit my vehicle. The other person was on her cellphone and didn't stop at the stop sign causing my vehicle to spin 3-4 times. My father had medical damage and the other insurance is refusing to pay for medical or car damages.