Everybody seems to assume that you need to use a computer to do this job. An alternative way is to use a cd burner that is designed as part of your Hi-fi system, such a device is the excellent Pioneer PDR509, or the modern dvd burner that sits under your tv along with the satellite box and vhs recorder.
Both would still require you to do the copying "in the analogue" using the Line In on the recording device and the Line-out or Headphone socket on the mini-disc machine.
Ok, I accept that you don't get the chance to tweek things like you would on the pc, but once your music is on cd, it will go in your pc very easily via the pc's cd or dvd drive.

Chris