Very often I need to copy a file from a ssh connection. Lets say a mysql dump. what I do is
local $ ssh my_server
server$ mysqldump database >> ~/export.s
First of all, this question is off-topic here, so it will be migrated or put on hold early.
Anyway, I described the solution for similar problem here, but it should help you: https://stackoverflow.com/a/33266538/2196426
Summed up, yes it is possible using remote port forwarding:
[local] $ ssh -R 2222:xyz-VirtuaBox:22 remote
[remote]$ scp -P 2222 /home/user/test xyz@localhost:/home/user