First, we will prove that the circumcircle of $I_AI_BI_C$ satisfies this property. We will then show that there exists only one point satisfying this property, finishing the problem.
Let $\angle I_BI_AI_C = A$, $\angle I_AI_CI_B = C$, $\angle I_CI_BI_A = B$. Then $\angle I_API_B = 2C$, so $\angle I_BI_AP = 90 - C$, while since it is well-known that $ABC$ is the orthic triangle of $I_AI_BI_C$, $I_CI_BCB$ is cyclic, so $\angle BCI_A = C$ and $\angle CI_AD = 90 - C$. Therefore, $I_A$, $D$ and $P$ are collinear. The same argument works to prove that $I_B$, $E$ and $P$ are collinear and that $I_C$, $F$ and $P$ are collinear. Now, note that $I_AC = \frac{DC}{cos(C)}$, $I_CI_A = \frac{I_AC}{cos{A}}$, so
$DC = I_AI_Ccos(A)cos(C)$. In the same way, $I_CA = AFcos(A)$, $I_CI_A = I_CAcos(C)$, so $AF = I_AI_Ccos(A)cos(C)$. This implies that $AF = DC$.
Note that $(AF)^2 = (DC)^2$ implies that $(AF)^2 + (PD)^2 = (PC)^2$, so $(AF)^2 + (PF)^2 + (PD)^2 = (CP)^2 + (PF)^2$, so since $(AF)^2 + (PF)^2 = (AP)^2$,
$(AP)^2 + (PD)^2 = (CP)^2 + (PF)^2$. A similar argument works to prove the other two equalities, so the circumcircle of $I_AI_BI_C$ satisfies this property.
Now, note on the other hand that by doing the previous argument backwards we are forced to have $AF = DC$, $BF = CE$, $AE = BD$. Note that this implies that $AF - AE = AB - AC$, $BF - BD = BA - BC$, $CD - CE = CB - CA$. Then, note that $BD = BF + BC - BA$, $CD = BC - (BF + BC - BA) = BA - BF$, $CE = CA + BA - CB - BF$, $AE = CA - (CA + BA - CB - BF) = CB + BF - BA$, $AF = BA - AC + CB + BF - BA = CB + BF - AC$, $BF = AB - (CB + BF - AC) = AB + AC - CB - BF$, so $2BF = AB + AC - BC$, and $BF = \frac{AB + AC - BC}{2}$.
Therefore, the position of $F$ on line $AB$ is fixed. In the same way, the positions of $D$ and $E$ are fixed, so $P$, the intersection of the perpendiculars to the sides that the three points are on at those points, is fixed, as required.