Apparently k9copy needs
vamps to run, and you either don't have it, or it's broken in your system. It's strange though, as I have k9copy but no vamps, and it works. Perhaps it's built in to the program? If this one is broken, maybe you should try stepping back to an earlier version of it.
Oh, and you do also have decss or an equivalent installed, don't you?
BTW, it's not recommended to run programs as root. Add your regular user to the dvd group (or cdrom, or whatever the device group is on your system) so it can access the drive directly.