I Need To Know How Hard Is It Going To Be To Get My Dog Back.

Location: Indiana. We have a friend that helped us get our dogs to a vet bc she was able to get us a discount. She is very active in animal rescue and has helped out so many animals in her area (different city from mine). She has taken our dogs for visits with her dogs along with us letting our kids spend the night on multiple occasions. Recently we were accused of hurting one of our dogs and it was later found out the breed is known for this issue. No apology was given. Then our other dog was acting hurt and we had her take the dog again to get checked out. He had a broken toe/knuckle. The vet said he might have gotten it stuck in a blanket or in the cage bars. Our friend said we must have hurt him and has kept him during his recovery. In the past year she has given our kids 2 small DIY dressers and a desk and a few other things including cages and "corral" for when the dogs are outside. Now the problem is we were supposed to get our dogs back from her 2 weeks ago and she has made every excuse to not bring them home to us. They are both puppies and our family has grown attached to both of them. Both of them are microchipped to us. But because she has taken them to the vet she has almost all the paperwork. Now comes the fun part. Recently she said unless we give up both dogs a "friend of hers" is going to call CPS on us for something that happened in her house. She has video cameras all over the inside and outside of her house so she says she has video proof of our daughter hurting one of the dogs. According to my wife, neither her or the friend were in the room at the time and all she has is the video. She said it looked like my daughter" put all her body weight on the him". My daughter weighs 140 pounds or so. I believe if she kneeled on the dog like she's accused of then the dog would be seriously hurt or dead. But the dog has been fine. No limping or anything. And now she wants to keep both dogs. Even going so far as to have one of them on a rehoming site. And on several FB posts has called our dogs her babies and called them both rescues. My main question is do we need to go to the police to get them back and do we need a lawyer if the police say no. Is this an easy win for us since we are the owners and he's chipped to us? We have pics from when we brought them both home. Neither of them were rescues. We were gifted them from a friend who is a breeder. Or was anyway. I think we have one dog from the last 2 litters. We just want to be done with this "friend" and tell her to kick rocks but want our dogs home. How hard of a fight is this going to be? Sorry for the long read and being all over the place. I appreciate any help you can give.