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This video shows how to manually remove a Mini-DV tape from a dead camcorder. This is best performed as a LAST RESORT, I would speculate that it could cause damage to the main circuits if too much power was applied for too long. This one is for the Canon Vixia HV30, which will be similar for the HV20, and HV40.
Tools required are a small Phillips head screwdriver (size 0 or 00), a pry tool, a pair of AA or AAA batteries (C or D would be fine too) some tape and a few inches of wire.