The new version of CDRoller http://www.cdroller.com is supposed to be able to do this. I was in a rush and only had a few moments the one time i needed to try it and i didn't get it to work. But, that may be because i didn't have something configured right. After a couple minutes of trying the project became moot and i had a rush to move on to something else so i haven't tried it since.
However, CDRoller is worth a look anyway. It's an amazingly good program that can rescue most anything off of CDs and DVDs no matter how badly mangled the data or the surface is. It can take an unfinalized disc and mount it perfectly. When i first bought it, it probably paid for itself 5 times over on the first day.
Check out the trial version of the Womble products, particulary the Mpeg Video Wizard DVD. There is a fully functional 30 day trial. I extract VRO files and export them to other formats using this program. My trial period is up, but I'm plamnning on buying it - it's quite handy for dealing with various mpeg incarnations.
www.womble.com
Also, Nero Vision will import VRO files and convert them to mpg.
Ulead's products can read them as well.
I'm assuming you have a DVD Drive that reads DVD-RAM. That generally is where VRO files come from.