The only thing I see that could be possible is when you are outside home ...

- Connect to your router if it has a VPN function, so then you are inside your network and can access any device inside your network.

- Have a PC always ON, at home, that has Teamviewer, so you can connect to it and then use it internally.

Naturally if you don't want to do any configuration in the router... or you can have a Linux box open to internet thru the SSH or Telnet or FTP services, and access it, to then go to the box (SSL/Telnet would allow it, not FTP).

TS