You will need a converter. The
Canopus ADVC-700 is probably the least expensive one you'll find that has component video inputs. It ain't cheap - around $1750.00 USD.
If your cam has S-video out, the
ADVC-110 does a great job and it has a much lower price - around $225.00 USD.
There are also component-to-SVideo converters in the neighborhood of $200 USD that you could use between your camera and the ADVC-110. Or, if you're intrepid enough to try building your own, here's a
DIY component to s-video converter plan