Remote-controlled actuator assembly

A remote controlled actuator assembly which comprises:

• a guide section of an elongated shape;
• a distal end member fitted to a tip end of the guide section for alteration in attitude;
• an operating tool provided in the distal end member;
• an operating tool drive source for driving the operating tool;
• an attitude altering drive source for altering the attitude of the distal end member;
• an attitude control unit for controlling the attitude altering drive source;
• and
• a restraining tool removably fitted to an area extending from an outer periphery of a tip end portion of the guide section to an outer periphery of the distal end member, so as to restrain the distal end member such that the distal end member is aligned straight with the guide section, the remote controlled actuator assembly being configured to restrain the distal end member such that the distal end member is aligned straight with the guide section,
• in which the restraining tool comprises an inner peripheral member configured to be placed on the area extending from an outer periphery of the tip end portion of the guide section to the outer periphery of the distal end member, the inner peripheral member having a plurality of split bodies circumferentially spaced apart from each other and a tubular outer peripheral member configured to be placed on an outer periphery of the inner peripheral member,
• in which an outer peripheral surface of the inner peripheral member and an inner peripheral surface of the outer peripheral member are in the form of tapers that match with each other and are formed with a male thread and a female thread, respectively, that threadingly engage with each other,
• in which the guide section has its interior accommodating a drive shaft for transmitting a drive force of the operating tool drive source to the operating tool and a guide hole having its opposite ends opening,
• in which an attitude altering member is reciprocally movably inserted within the guide hole for undergoing a reciprocating or retracting motion so as to alter the attitude of the distal end member, the attitude altering member being selectively advanced or retracted by the attitude altering drive source,
• in which an advance or retraction position detector operable to detect an advance or retraction position of the attitude altering member is provided, and
• in which the attitude control unit uses information on an advance or retraction position of the attitude altering member corresponding to an initial position-attitude of the distal end member and that information is a detection value obtained by the advance or retraction position detector while the distal end member is being restrained to align straight with the guide section, during which the attitude altering member keeps applying a preload to the distal end member.