DVD RW and Re-Recordable and recorded disks wont read?

I have a Panasonic DMR-EZ45VEBS Dvd and VHS recorder and player.

The Drive seems to fail to read DVD disks of any kind.
I have tried all permutations of check and resetting the macine to new setup. No cure.

I found dust in the DVD drawer, probably some on the lens of the drive-read mechanism.

How can I clean the lens of the machine, it is on the lower side of the drive, but not evidently accessible from the drive door when open. There must be a read lens and a Burn beam lens. Maybe both are needing a clean.

Is there any way to make the machine clean its lenses.

can one clean the lenses without dissassembly ?