read and matching pattern with python
This is not a bioinformatics question, but a basic pandas question, so SO is a better place for this... But your odd looking VCF file can be parsed as follows without even using regex:

import pandas as pd

def splitter(cell, key):
    parts = cell.split('||')
    if key in parts[0]:
         p = parts[0].split('|')
    else:
         p = parts[1].split('|')
    sp = [x.strip() for x in p if key not in x]
    return float(sp[0])

def read():
    splitter_a = lambda v: v.split('||')[0].split('|')[1]) 
    varian=pd.read_csv('file.txt',sep = "\t")
    a_splitter = lambda c: splitter(c, 'a')
    b_splitter = lambda c: splitter(c, 'b')
    varian = varian.assign(father_a=varian.FATHER.apply(a_splitter)\
              .assign(father_a=varian.FATHER.apply(b_splitter)\
              .assign(mother_a=varian.MOTHER.apply(la_splitter)\


etc.

display(varian) or print(varian.columns) will show that you have new columns called father_a etc.