What to do with an IRS lien?

I was audited for three years in a row, (2005,2006,2007) I filed appeals, but to no avail I was found to be delinquent,according to the lovely people at the IRS. I filed a voluntary payment plan with them two years ago, and they take out an additional $300/month form my check to pay what is owed. I have paid $7,200 since May 2009, but still owe $6,800, They filed a lien on me even though I had been on a payment plan with them for over a year. They frustrate me to no end, but I was told that the lien would be removed when I owe less than $5,000. IS this true? I have looked over the tax laws, and I find talking to them is like banging my head against a wall. I ask, because my house is currently in someone else's name, and I was wondering if the lien is removed after the debt is below 5,000 then can I get my house in my name? Can the lien even be removed if the debt is below 5,000? I am below thirty with a single income, and I am simply tired of the IRS. Any information would be helpful, but honestly I am exasperated, and I really just want to get things in order.