Well you should be able to RIP the disk with anything you want e.g. ImgBurn or trial AnyDVDHD, and if you get no "read errors" you're golden. If you actually want to WATCH the rip-on-PC then you might need a decrypter (though not if you use e.g. Arcsoft TMT 3 or 5) but that's a totally separate issue.
There's a free program called IsoPuzzle which I use for suspect disks--it will keep trying to read "unreadable" sectors forever if you let it, though it will do a cool-down periodically too to save your drive. You can also stop the rip at any point and move the disc to another drive (to see if it might work better) retaining all the data it's recovered so far. Doesn't work for all bad discs, but I've had some very good success with "questionable" discs and highly recommend it.