What can I do if I am being legally prevented from seeing my daughter due to restraining order?

My boyfriend's ex - girlfriend placed a protection order on him. The judge had created the order that stated that he had to stay 500 ft away from her. They have a child together so the judge stated that he was able to contact his ex to see his child but he is not to have any physical contact with her mother. The daughter was put in the hospital and he went to see her not knowing that the mother was there. When he discovered that she was there he went to the front desk and explained the situation to the nurse supervisor who then contacted the hospital's legal department. They then went and told the mother that he was there and that she would need to leave the room for him to see his child because of the protection order. He was then arrested because he was told he violated the protection order by being in the same building even though he never had any physical contact with the mother.