Need Help! Getting a line drawing into MasterCam.

I have 2 drawing sketches I would like to be able to get into MC or any program that would give me G code output. The drawings were done free hand full size and I am trying to engrave them onto raised panel doors. the local copy shops can only scan to pdf or picture type files which will not help as I only want to engrave the sketched lines.

Anyone have any ideas as to how to accomplish this?

cem