All you need is a flatbed scanner and Finereader. This tutorial is for Finereader 5 but I've used it with Finereader 8 and perhaps could be adapted for later versions. I've scanned a medium sized paperback in a little over an hour while watching TV. It's non-destructive except for some stress on the spine.
http://sno2.iwarp.com/ebook-faq/documents/page-4-1.html