Hi,
Try manually deleting the /componenets/com_sef and /administrator/components/com_sef directories. Then delete the /plugins/system/joomsef, joomsefgoogle and joomseflang plugins and /plugins/content/joomsef plugin.
Then open the _extensions table in your Joomla database and delete all the entries for deleted plugins and also delete entries for JoomSEF extensions (type = sef_ext).
Then open the _menu table in Joomla database and delete all entries with titles starting with COM_SEF.
After this try installing JoomSEF again.
UPDATE: Of course make sure you have the current backup of your website prior to doing this!