I bought PhoneMyPC - its amazing, but they still have to update some things and keep saying they are working on it. Like SSL security would be nice for one. Its an amazing app for little things tho.
You can also use OrbLive to stream video and audio from your PC to your phone. Not quite remote access but its along those lines too. Again, not the best app, needs a lot of work, but it is a life saver for me too.