Reverse SSH through port 22 should be able to accomplish this (connecting to another computer on your network through a computer on your network).
Oh wait. I think I understand you're dilemma now.
- You have to go into the settings of your router.
- Go to the router status page.
- See the number of your WAN IP address.
Once you get that you can access your router from the public domain so long as you ISP isn't heavily firewalling you and blocking your IP from the internet with their own NAT.