If you know networking and have the right equipment, sure you could do this with your existing setup.
What make / model are the said "cisco" routers? Are they real Cisco routers, or Linksys by Cisco kit?
Otherwise, look into a VPN or proxy provider that offers IP addresses globally. The VPN forum on the
board may have some links you may find helpful -- try this one for starters
Otherwise, RDP'ing into a comp at the NY location and accessing the web that way may be an option.