I use a real soft and worn out tooth brush to loosen the debris, then a vacuum with computer cleaning attachments to pick it up. Works pretty good for me.
I'll second the toothbrush and vacuum suggestion. If there is something you need a solvent for in there, then use Resolve brand fabric cleaner, but don't let it sit very long or get very wet -- or it may dissolve the glue. Even then only use it if the fabric is in good shape, or your velvet may go "bald."
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