In "An Open Problem on Metric Invariants of Tetrahedra" (citation below), Lu Yang and Zhenbing Zeng mention matter-of-factly that the circumradius $R$ satisfies
$$R^2 = -\frac{M_5}{2 M_0}$$
where $M_0$ is the Cayley-Menger determinant, and where $M_5$ is the principal minor determinant obtained by deleting the $5$th row and column of $M_0$.
That is, in the notation of OP,
$$\begin{align}
M_0 := \left|\begin{array}{ccccc}
0 & a^2 & b^2 & c^2 & 1 \\
a^2 & 0 & C^2 & B^2 & 1 \\
b^2 & C^2 & 0 & A^2 & 1 \\
c^2 & B^2 & A^2 & 0 & 1 \\
1 & 1 & 1 & 1 & 0
\end{array}\right| &= 288 V^2 \\[8pt]
M_5 := \left|\begin{array}{cccc}
0 & a^2 & b^2 & c^2 \\
a^2 & 0 & C^2 & B^2 \\
b^2 & C^2 & 0 & A^2 \\
c^2 & B^2 & A^2 & 0 \\
\end{array}\right|
&= \begin{array}{c}
-(a A + b B + c C)(-a A + b B + c C) \\
\cdot(a A - b B + c C)(a A + b B - c C)
\end{array}
\end{align}$$
which gives the relation OP mentions.
I suspect that the relation should appear in a comprehensive reference of Cayley-Menger lore, but my cursory web search has been fruitless.
Here's the citation information I have for the Yang-Zeng note:
Lu Yang and Zhenbing Zeng, An open problem on metric invariants of tetrahedra, Proceedings of the 2005 international symposium on Symbolic and algebraic computation (ISSAC ’05). ACM, New York, NY, USA, 362-364. DOI=10.1145/1073884.1073934 http://doi.acm.org/10.1145/1073884.1073934
A PDF of the paper containing the note appears to be available from ResearchGate: https://www.researchgate.net/publication/221563984_An_open_problem_on_metric_invariants_of_tetrahedra