"Is there any easy way to reach there and clean those lenses?"
If you have to ask that question.... then you shouldn't be messing with it. That's a job best left to the professionals. Also, are the particles actually affecting the quality of your video? Probably not.
Ouch! yes, monday morning reflections make you kick yourself. In an emergency, even a lowly plastic bag with a hole for the lens and a rubber band to seal the plastic around the lens shade would give a certain amount of protection. If you plan to shoot in inclement weather, there are flexible housings available, not exactly cheap, but what's $500 to protect a several thousand $ investment? Ewa Marine makes some nice units that are waterproof up to 10 meters' depth and feature optical glass ports for the shooting end of the camera..
You could try a rain cover too which might help a bit. Ewa Marine make those and I've got a Kapa one for my Z1 which is great. They do get humd and sweaty inside though if you're shooting handheld.
I got mould inside my VX2000 lens. I sent it to Sony service and they did a great job opening it up and cleaning it. It was quite reasonably priced too. Something like USD50 (but this is Thailand. Other places may be more expensive).