Legal Question in Family Law in New York

i wanted to know some information on guardinship ,,,i gave guardinship of my daughter to my mother five years ago,at the time my daughter's mother was going into treatment in a drug program and at the time i could'nt take my daughter in because of my career in a another state ....i went to court 5 years ago to give my mother guardinship now my mother can no longer take care of my daughter because of health issue's and my daughter wanted to go back with her mother to give her another chance ,,,but not my daughter's mother is back on drugs ,,and acs was called on her ,,,my question is can my mother tranfer the guardinship back to me without her mother being involved and if so how can i go through the proceedure ?

thank you inadvance

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