There is a standard way to make this work, but it requires the assistance and approval of the person running your network:
Make your internal servers publicly visible on the internet, and use that public address all the time. You could multi-home the server by configuring a second ethernet interface on the machine with a public IP address and connecting that interface to the switch that connects your server to the outside world. Then when outside requests to that public IP address came in to your network they would go straight to your server. You have to be very careful to set up firewall rules and security on your system for this configuration. You can then access the machine as the same dns name inside and out.
Another way to achieve much the same effect is to use a vpn such as OpenVPN to connect to your network remotely. With this setup, some or all of your network traffic from your remote machine is tunneled into your network, in effect putting your system on to your office network from home. This means that when the vpn is running, you can connect directly to
zeus.mydomain.it from your home machine. This solution also requires the assistance of the administrator of your office network to set up.