DAEMON Tools is my best friend on this computer; Idk why it was suggested to get rid of it once you’re done. Download and install it, mount the ISO image to the virtual drive, and then (here’s a shortcut) simply open up My Computer, right-click the virtual drive with the mounted ISO image on it, click “Open” or “Explore” (as opposed to the usual default double click, “Play”), and you’ll find your AUDIO_TS and VIDEO_TS folders and all your VOB, BUP, and IFO files in the VIDEO_TS folder like a regular DVD (but unprotected and unencrypted so you can simply copy and paste them as desired).
(Oh and if you want to keep DAMEON Tools, it’s absolutely excellent for watching the ISO image movies without having to burn them or anything. It saves DVD-R discs, a lot of time, and is useful for other tasks like the one you’re trying to do here. And of course, the ISO image is ready to be burned if you really want to, or it can be watched with DAEMON Tools. Just some helpful feedback.)
Disclaimer: I have not used any other virtual drive software other than DAEMON Tools, as it was suggested on Doom9 forums to be the best program for the job. But it has been an excellent addition to my DVD-copying and DVD-watching experience, and I give my two thumbs up for it.