How to edit dvd-rw vro file

I copied a program from directv with a samsung dvd recorder using a dvd-rw disk in vr mode. Now none of my dvd software will recognize the vro file. I have Pinnacle Studio 9, Nero, DVD Shrink, DVD Decrpyter and nothing works. It's a concert and I wanted to edit the file to create chapters for each song. Instead of a video_ts file, there is a dvd_rtav file on the disc.

So how do I convert the file type or what software will allow me to edit the vro file?

Thanks,

Chuck