May not be the way your looking for, but if you configure your router to have a DMZ computer, and make that computer the target system, you should be able to access it from the internet.
You need to also forward port 16994 to the machine. I had the same problem, and a colleague gave the right hint. Even though, 19662/16993 are the most obvious ports to forward, vPro systems actually also use ports 16994/16995 - so these also need to be forwarded - depending on whether you use TLS or not.
I hope this helps.