Sorry, I don't know my way around minidom. Also, I had to find the namespace declarations from a sample svg document so that your excerpt could load.
I personally use lxml.etree. I'd recommend that you use XPATH for addressing parts of your XML document. It's pretty powerful and there's help here on SO if you're struggling.
There are lots of answers on SO about XPATH and etree. I've written several.
from lxml import etree
data = """
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://web.resource.org/cc/"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
xmlns="http://www.w3.org/2000/svg"
xmlns:xlink="http://www.w3.org/1999/xlink"
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
width="50"
height="25"
id="svg2"
sodipodi:version="0.32"
inkscape:version="0.45.1"
version="1.0"
sodipodi:docbase="/home/tcooksey/Projects/qt-4.4/demos/embedded/embeddedsvgviewer/files"
sodipodi:docname="v-slider-handle.svg"
inkscape:output_extension="org.inkscape.output.svg.inkscape">
<text
xml:space="preserve"
style="font-size:14.19380379px;font-style:normal;font-variant:normal;font-weight:normal;font-stretch:normal;text-align:start;line-height:125%;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;font-family:DejaVu Sans Mono;-inkscape-font-specification:DejaVu Sans Mono"
x="109.38555"
y="407.02847"
id="libcode-00"
sodipodi:linespacing="125%"
inkscape:label="#text4638"><tspan
sodipodi:role="line"
id="tspan4640"
x="109.38555"
y="407.02847">12345678</tspan></text>
</svg>
"""
nsmap = {
'sodipodi': 'http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd',
'cc': 'http://web.resource.org/cc/',
'svg': 'http://www.w3.org/2000/svg',
'dc': 'http://purl.org/dc/elements/1.1/',
'xlink': 'http://www.w3.org/1999/xlink',
'rdf': 'http://www.w3.org/1999/02/22-rdf-syntax-ns#',
'inkscape': 'http://www.inkscape.org/namespaces/inkscape'
}
data = etree.XML(data)
# All svg text elements
>>> data.xpath('//svg:text',namespaces=nsmap)
[<Element {http://www.w3.org/2000/svg}text at b7cfc9dc>]
# All svg text elements with id="libcode-00"
>>> data.xpath('//svg:text[@id="libcode-00"]',namespaces=nsmap)
[<Element {http://www.w3.org/2000/svg}text at b7cfc9dc>]
# TSPAN child elements of text elements with id="libcode-00"
>>> data.xpath('//svg:text[@id="libcode-00"]/svg:tspan',namespaces=nsmap)
[<Element {http://www.w3.org/2000/svg}tspan at b7cfc964>]
# All text elements with id starting with "libcode"
>>> data.xpath('//svg:text[fn:startswith(@id,"libcode")]',namespaces=nsmap)
[<Element {http://www.w3.org/2000/svg}text at b7cfcc34>]
# Iterate text elements, access tspan child
>>> for elem in data.xpath('//svg:text[fn:startswith(@id,"libcode")]',namespaces=nsmap):
... tp = elem.xpath('./svg:tspan',namespaces=nsmap)[0]
... tp.text = "new text"
open("newfile.svg","w").write(etree.tostring(data))