Mixed-mode CDROMs like the Voyager discs can not be properly imaged directly into ISO format and are much better handled by the BIN/CUE or BIN/TOC format. However, emulator support for BIN/CUE is varied.
Emulators with builds that allow for BIN/CUE use (SheepShaver) could be made available, along with corresponding tweaks to the Import Resource workflow for Software or Content that would allow for importing a BIN/CUE object as an equivalent of an ISO (a virtual representation of a CDROM, mounted to the configured CDROM/ISO drive in an Environment)