Watch the full episode above.

Why do we often feel scared, rushed, and powerless in the doctor's office?  Can this affect how we heal?  Why do doctors behave the way they do? How can we improve the "dance" we do with doctors?

Host Robert Lipsyte, a two-time cancer survivor, asks the insiders.  Grey's Anatomy consultant psychologist Dan Shapiro, Ph.D., head of Penn State College of Medicine's Department of Humanities, explains the difficulty of teaching brainy medical students to be "human."  N.I.H. researcher and author Esther M. Sternberg, M.D. talks about her extensive study of the effects of stress on health and her own bout with crippling rheumatoid arthritis caused by stress. The Mayo Clinic's Dr. Michael Brennan offers pointers on getting and keeping your physician's attention and reaping the greatest benefits from a visit to the doctor.  The conversation will help you understand your doctor-and how to get your doctor to understand you!

Next, Lipsyte sits down with Sex in the City's Evan Handler, who speaks frankly about his own "dance with doctors" during his fight against cancer. Handler's new book, It's Only Temporary: The Good News and Bad News of Being Alive, offers lessons learned during Handler's life-and-death struggle with the medical establishment.  Getting the care you really need inside a hospital, Handler says, not only depends on you-it almost always requires a fight!

Finally-it is the rare Baby Boomer who didn't fall in love with the ideal suburban family that existed on television's The Dick Van Dyke Show. Multiple Emmy Award-winning writer and producer Bill Persky was one of the many great talents who helped create this TV classic.  Here Persky offers both wisdom and humor on what he thinks of as every person's last job: maintenance man to your own body.