Welcome to the forum
I would pick a Samsung to read those discs, personally. Pioneers are great burners, but the ones I've owned (110D and 115D) weren't so hot at reading degraded discs. Neither are my LG drives - though again, my LGs are terrific burners.
From your mention of the Pio 216D, I take it your machine has SATA. In that case, I would go for a Samsung 223x.
However, sit tight and hopefully other members will chime in with their recommendations.
Edit: saying that, Google for ISOBuster or ISO Puzzle, and you may be able to retrieve the data with what you have.