IsoBuster lets you explore a CD's File System while by-passing Windows. This way you get better Error handling and several retry-mechanisms to aid you in getting the data anyway (or at least partially). Starting with version 1.2, the program has some PRO features for which you must pay. The classic functions can still be used for free, though.

IsoBuster 1.8 (Build 1.8.0.4) - Changelog