In the documentation, lack of an MDS implementation for this type of data is mentioned. By "MDS", are you referring to metric MDS specifically (which assume the input matrix is a distance matrix that is based on a metric)? There are relaxed non-metric variants of MDS (like ordinal MDS in smacof package) which would be more robust to outliers as well. I don't know whether the specific R implementation I mentioned support both missing and censored dissimilarities, but ordinal MDS in general should. The limitations of those variants are that they are more expensive to optimize usually.