need advice on how to clean lens for Panasonic TM900 HD camcorder

I just now cleaned the inside surface of some windows in my house that didn't have any visible dirt or smudges and looked superficially clean, but a fair amount of black "film" came off during the cleaning process. That got me to thinking about my Panasonic TM900 camcorder lens. For the first 6 months of use, I didn't realize one needed a UV filter to avoid getting dirt, dust, etc. on the camera lens itself. I have looked at the lens with a magnifying glass and can't see anything specific, but the images don't seem quite as "pristine" as they did when it was brand new. I now have a B+W UV filter to prevent any further accumulation of dirt on the camcorder lens, but am concerned that during the 6 months or so I used it without a filter that it must have accumulated some dust or other fine dirt on it. So, my question is, "Is there a safe way to clean the lens to make it absolutely pristine without scratching it or leaving some dust or cleaning solution "film" or anything behind on it? Alternatively, is there a "special" way to look at the lens such as some particular kind of light or high magnification to better determine if there really is anything on the surface? All answers and experience will be much appreciated.