I am not sure that Canada has an overreaching emancipation law - although there may be national common law on the subject. There may also be a statute in your province, governing emancipation.

Generally speaking, to achieve emancipation, a minor must show that he or she is economically self-sufficient, and sufficiently mature to handle his or her own affairs. This isn't "divorce" from parents, per se - but if successful, emancipation removes the minor from the control of the parents (while also eliminating any duty of the parents to provide financial support to the minor).