Patent ID: 8439899

Claim:
A remote controlled actuator, which comprises: a spindle guide section of an elongated shape, a distal end member fitted to a distal end of the spindle guide section through a distal end member coupling unit for alteration in attitude, and a drive unit housing coupled with a base end of the spindle guide section; wherein the distal end member rotatably supports a spindle for holding a tool, wherein the spindle guide section includes a rotary shaft for transmitting rotation of a tool rotation drive source, provided within the drive unit housing, to the spindle and a guide hole defined therein so as to extend from one end to the opposite end, wherein an attitude altering member having a tip end held in contact with the distal end member is reciprocally movably inserted within the guide hole, wherein an attitude control drive source for applying to the attitude altering member a force acting in a direction of advance and retraction is provided within the drive source housing and, also, an attitude control section for controlling the attitude control drive source is provided, and wherein the attitude control section includes an initial attitude hold control unit for controlling the attitude control drive source to apply to the attitude altering member an initial attitude holding force necessary to enable the attitude of the distal end member to hold in an arbitrarily preset initial attitude, and an attitude alteration control unit for controlling the attitude control drive source to apply to the attitude altering member a force greater than the initial attitude holding force being applied to the attitude altering member so that the attitude of the distal end member is altered by selectively advancing or retracting the attitude altering member.