Grandparents and Third Parties: Emancipation

We have a situation that we need some advice on.

Our daughter is living with a guy who has two children from a previous marriage, a child between the two of them and our daughter's child from
a previous affair.
This guy let his son go live with his ex-wife because they were having problems with the son. The son was stealing, lying, and just being a total child that no wanted to be around. Since the child went to live with his mother he has done a complete turn around and is a child everyone wants to sit and chat with. This guy has a daughter who is always lying and getting everyone in trouble. All she has to do is say her mother told her to say these things and everything just goes away.
Our Grandson from the previous affair has always had good grades, good manners, and done everything that was expected of him. In November of 2007 he called us (His Grandparents) asking us to come and get him as he had run away. Since this time his grades are not what they should be and he is acting out for attention. The boy friend will literally push our grandson around and will wrestle with him and sit on him until he throws up on him. Our daughter does nothing to help our Grandson.
Since this day our Daughter has not let us have him at all we don't get to see him. She has blocked all our emails to him so he can't keep in touch with us other than to go behind her back.
Our question is can he emancipate himself from her and come and live with us. We would be more than glad to raise him as he is the world to us. We would ask nothing from his mother or boyfriend.
Thank You
InternetGrandma Colorado