Presumably CPS investigated and found that there wasn't proof of abuse, so he must abide by the summons ASAP and be vigilant in the future. Of course the system makes mistakes in both directions, letting abuse happen and taking unabused children away, but they do the best they can with limited resources and time.
He can get a lawyer. He can talk to Family Court to learn more about forms and procedure, or a legal clinic or law school. He can look at his state online .gov site. But he can't take the law into his own hands.
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