Yes, a copy of the whole DOM tree is maintained in the form of plain JavaScript objects. It seems MutationSummary is a library just to keep track of the DOM changes. VirtualDOM is different. Think of it as a proxy to your DOM.
It is more like this library here: https://github.com/Matt-Esch/virtual-dom
Instead of updating the DOM when your application state changes, you simply create a virtual tree or VTree, which looks like the DOM state that you want. virtual-dom will then figure out how to make the DOM look like this efficiently without recreating all of the DOM nodes.
Why would you want to access the virtual DOM? I'm not sure, but there is no direct access to it that I know of.
Also, I recommend reading this article for the "How-it-works" part of the Virtual DOM: http://calendar.perfplanet.com/2013/diff/