can you revirse an adoption if the child needs you?

to make a long story short my daughter was born and i was told she was not mine. the mother took off leaving her with grandma, so when grandma asked the state for money it proved she was mine. after four years of awful court battles the court gave me visitation out of state for four weeks a year. all this time the grandma was asking to adopt her. we took the four weeks for one year and found out (because we carried her on our insurance) that after each vist she was taken to two doctors to look for signs of abuse. grandma made the visits very tramatic for her. and said if we let them adopt they will let us see her when ever we want (yes i am that stupid) so the adoption went through about four years ago and we were denied contact with her. about two years ago my wife got a hold of her and she was allowed to come see us for the holiday. she asked to come live with us. shortly after that we found her on the internet and regained our relationship with her. she has been here twice more since then and really wants to live here. she is 13. we feel it would be best because there is a lot of drug use and violance in the home where she is now. this is new since the adoption because her aunt (22) and her two children live there as well. several arrest have been made at that house in the past year but grandma keeps letting her come back. so the big question is...can you somehow change this so she can live with us now?