We had an ethernet based security camera like this at work. We accessed it remotely by:

• have the router assign it a fixed IP, like 192.168.1.20
• the web camera has a built in webserver on port 8080, so internally we access it like "http://192.168.1.20:8080". The webserver also had a java plugin that shows the video feed.
• forward your external-IP-address:8080 to your webcamera:8080

We had an ethernet based security camera like this at work. We accessed it remotely by:

• have the router assign it a fixed IP, like 192.168.1.20
• the web camera has a built in webserver on port 8080, so internally we access it like "http://192.168.1.20:8080". The webserver also had a java plugin that shows the live video feed.
• forward your external-IP-address:8080 to 192.168.1.20:8080. You can then check your security camera by http://your.domain.com:8080

Also, our security camera allowed you to choose the port for webserver access, though you could just handle that with the router.