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If you want a chance, revoke the title and then you need to make sure that you are the liege-lord of your prisoner not somebody else. That way if he doesnt have a valid heir you as the liege have a chance to get the artefact on his death. (warning though: there is a solid chance that the artefact gets lost when being inherited that way, its way lower with a normal inheritance by a valid heir).
Another way to steal artefacts is to siege down the owners capital holding (not that well applicable in case of vassals).
Sometimes in wars that are a save win I check wich of the enemy vassals has artefacts then send an army to siege their castles, doesnt add much warscore but gives me a shot at getting the artefact.
If you don't get it then grant him independance again and rinse repeat.