Can't connect to my BL-C10A camera from the internet.

I have two Panasonic BL-C10A cameras. They work great but I cannot access them from the internet. I registered them with viewnetcam.com and I have their internet addresses. After much trouble shooting, I came to the conclusion that the Linksys WRT54GS V2.0 wireless router is the problem so I called Linksys for help but; because my router is older than three years and was no longer under warranty and the tech refused to help me, but he did send me some links that were suppose to help me… it didn’t. Because I am not a geek, I tried and failed several times. The last time I had to reset the router; and what me mad, is the Linksys tech told me that the only way he could help me is if I buy a new router!? So is there anyone in syberland that can help me set up my router so I can view my cameras from the internet?