At a guess, I would suggest don't even think about doing it. Your camcorder may be in a bad state at the moment but it may become a lot worse if you try and install new heads into it. It sounds like a specialised job only to be carried out by a qualified technician using the correct equipment, that's probably why it costs so much to have it done.
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Better than a poke in the eye with a pointy stick any day...
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