diff --git a/scenes/NeedleInsertion.py b/scenes/NeedleInsertion.py
index 048216f..924548f 100644
--- a/scenes/NeedleInsertion.py
+++ b/scenes/NeedleInsertion.py
@@ -60,7 +60,7 @@ def createScene(root):
     root.addObject("ConstraintAttachButtonSetting")
     root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" )
     root.addObject("FreeMotionAnimationLoop")
-    root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=1e-5, maxIt=5000)
+    root.addObject("BlockGaussSeidelConstraintSolver", tolerance=1e-5, maxIt=5000)
     root.addObject("CollisionLoop")
 
     needleBaseMaster = root.addChild("NeedleBaseMaster")
diff --git a/scenes/NeedleInsertionCycles.py b/scenes/NeedleInsertionCycles.py
index e245e1f..45bde99 100644
--- a/scenes/NeedleInsertionCycles.py
+++ b/scenes/NeedleInsertionCycles.py
@@ -60,7 +60,7 @@ def createScene(root):
     root.addObject("ConstraintAttachButtonSetting")
     root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" )
     root.addObject("FreeMotionAnimationLoop")
-    root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000, printLog=False, computeConstraintForces=True)
+    root.addObject("BlockGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000, printLog=False, computeConstraintForces=True)
     root.addObject("CollisionLoop")
 
     needleBaseMaster = root.addChild("NeedleBaseMaster")
diff --git a/scenes/NeedleInsertionHaptics.py b/scenes/NeedleInsertionHaptics.py
index 7da8744..ca85f1e 100644
--- a/scenes/NeedleInsertionHaptics.py
+++ b/scenes/NeedleInsertionHaptics.py
@@ -65,7 +65,7 @@ def createScene(root):
     root.addObject("ConstraintAttachButtonSetting")
     root.addObject("VisualStyle", displayFlags="showVisualModels hideBehaviorModels showCollisionModels hideMappings hideForceFields showWireframe showInteractionForceFields" )
     root.addObject("FreeMotionAnimationLoop")
-    root.addObject("ProjectedGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000)#, regularizationTerm=0.001)
+    root.addObject("BlockGaussSeidelConstraintSolver", tolerance=0.00001, maxIt=5000)#, regularizationTerm=0.001)
     root.addObject("CollisionLoop")
 
     toolController = root.addChild("ToolController")