Should be able to forward the appropriate ports on the 3Wire (or whatever the Telus router is) to the IP address of your internal router, which would then need to be configured to forward to whatever machine you needed remote access to.
If Telus says it is possible, then they should either have the documentation to do so, or be able to walk you through configuring it. I have a hard time believing that a router a telecommunications company provided would not support port forwarding.
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