That printer looks to be most of twenty years old based on the publication dates for the associated documentation, and is lacking both Wi-Fi and AirPrint support.
That printer is intended for wired printing connections from Mac and Windows.
Access to that printer from wireless devices is going to be challenging, at best.
iPhone supports AirPrint, or vendor-provided wireless printing apps, and does not support USB printing.
As mentioned above, Printopia is going to be about your best choice, and you’ll need to keep the Mac hosting that printer running.
If you do decide to replace that printer (considerations), absolutely get one with AirPrint support for access from Apple devices.