Ho wdo I modify an existing child support order in Massachusetts with a lifetime restraining order against my ex?

My ex was unemployed at the time of our divorce. The court order was that he pay the minimum amount of child support for our 3 children. Fast forward 2 years later, I have custody of the kids and we all have been granted lifetime restraining orders against my ex/their dad. He continues to pay the minimum although I know he is employed and has been for some time. I want to modify the child support order but do not want to deal with him in any way. Can I modify the child support order and be assured that I will not have to see him in court? Thanks in advance.