If you can connect a USB-to-USB cable from router to printer then you should be able to use the "Find Printer on Network" dialog that you get when you tell Windows to add a printer. It would help if your printer has the ability through some kind of control panel to tell itself to use DHCP addressing so that it can get its address from the router. Once the printer is "local" to the subnet represented by the router, you should be able to find it easily. Well, ... Windows should find it. I'm not familiar with the specifics of either device, but given the way that networks work, it should be a viable option.
The one issue that makes me uncertain is... does that router only have ONE USB port? And if so, is that for a console to be connected to it? Look that up in your owner's manual for the router. IF that USB port is the only one on the router, and if it is also intended for a control console, then the answer is NO. If there is more than one USB port then probably it would be OK.