You'll want to make a local clone where you preserve only the changesets that are also present in the remote repository. Use TortoiseHg, hg log or similar to figure out which of your revisions is that lastest revision you didn't make (the one before the mess started). Using hg outgoing can help here -- it will list all the changesets you made -- pick a revision number earlier than any of those.
If the target revision is called good and your clone is called foo, then do:
hg clone -r good foo foo-clean
This will be a fast, local operation -- there is no reason to download everything again. The foo-clean clone will only contain changesets up to revision good. You can now replace foo-clean/.hg/hgrc with foo/.hg/hgrc in order to preserve your repository-local settings such as the default push/pull path.
When you are satisfied that foo-clean has everything you need from foo, then simply delete foo and rename foo-clean to foo. Do a hg pull to get any new changesets from the remote repository into your clone and continue like normal.
If nobody has pushed new changesets to the remote repository, then it is very simple to determine which revision you want to use as good above: hg id default will tell you the ID of the tip in the remote repository.
If you are using TortoiseHg, one simple way to get out of a (small) mess is to first update to the latest revision, then select your changesets and initiate "merge with local". When the merge dialogue appears, simply click the little '+' icon to reveal some extra options, one of which is "discard changesets from merge target (other) revision". Doing this will mean your changesets will still be in the repo and get pushed, but will have no effect, because they will be discarded in the merge. If you have a lot of changesets spanning many heads, you might not want to pollute the repo this way, but it's a simple fix and worth considering if the changesets you are discarding contain data that you may later want to reference.