The scan: http://i.imgur.com/Zzzoi.jpg
It does not look great, but should hopefully look better when printed. The Yoda image from the dvd cover (the on I linked to) is close enough to this scan. (His walking stick and expression are slightly different) I think you should use that version, as my yoda looks very speckled and faded.
The images on the Return of The Jedi dvd cover are very similar to the vhs ones, so instead of a scan, I think you should just crop them to how they are on the vhs.