Let's be conservative and assume that you take $27,000 out of a non-IRA account and that there are no tax implications of withdrawal from that account. This withdrawal would pay off the mortgage and put $842 extra in your pocket each month.
If you left the $27,000 in the account and used the somewhat accepted safe withdrawal rate of 4-5% you could withdraw $1080 - $1350 per year or $90-$110 per month. You would have to withdraw $10,100 from your account to equal the $842. This would be a very UNSAFE rate of withdrawal.
The loss in tax deductions from mortgage interest will be very small, because by now you are paying mostly principal on the mortgage and not much interest.
This analysis may be skewed because you are already very close to paying off the mortgage anyway.