In one online game, when you die you go to the nearest grave yard and have to run back to your dead body as a ghost. Once you reach your body you come back to life with low health and mana. The trick is to get your body back without triggering what killed you the first time!
In another game, when you die you get sent back to town completely naked and have to run back to your body to retrieve your gear. Sometimes the way back is full of monsters and without your gear makes it very hard to get back!
Although traditionally, in RPG's when you die its game over, the idea is, you should have saved and that is your check point you return to. I kind of like the simplicity and requirement on the player to do that.
But no matter what way you go, it seems there must be a penalty to death and require the player to jump through some kind of hoop. And with your suggestion of a mini-game, it could be just that, make them jump through hoops, haha, jk.