I use a fairly simple program called
VobBlanker

Open the VIDEO_TS.IFO file of the DVD.
Select the TitleSet.
Select a PGC in the TitleSet.
Click the Cells button.
Select the chapter you want and click Extract.
* ExtractAll will extract the entire PGC into one VOB file.
* ExtAll Mult will extract the entire PGC into separate chapter VOB files.