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Agree that Slingbox is probably your best solution.
Assuming you have decent upload speed on the UK side, you'll also need to have a good connection on this side. Using relatively low speed EVDO here, I got marginal performance for video, and good performance for the digital radio channels (audio only, requiring much less bandwidth) - which is really why I have it.
I recently changed my ISP on the US side, and can no longer connect to the slingbox. The new ISP (or new DSL modem's firewall) may be blocking it, so you'll need to verify that your ISP will support streaming from a slingbox if you decide to go this route. For me, I'm stuck with a slingbox I can't connect to till the next time I'm back in the US to troubleshoot it.
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