Angularjs Dependency Injection framework is responsible for injecting the dependancies of you app module to your controllers. This is possible through its injector.
You need to first identify the ng-app and get the associated injector. The below query works to find your ng-app in the DOM and retrieve the injector.
angular.element('*[ng-app]').injector()
In chrome, however, you can point to target ng-app as shown below. and use the $0
hack and issue angular.element($0).injector()
Once you have the injector, get any dependency injected service as below
injector = angular.element($0).injector();
injector.get('$mdToast');