Proposed are a device for guiding the position of a robot, a method thereof, and a system including the same, the device including a surgical target matcher configured to derive a correlation of a position and a posture between a surgical target and a target marker attached to the surgical target, a robot matcher configured to derive a correlation of a position and a posture between a robot maker and a surgical robot based on an image including the robot marker mounted to the surgical robot and derive a correlation of a position and a posture between the robot marker and a preset work space, and a work space identifier configured to derive a correlation of a position and a posture between the surgical target and the work space based on information about the positions and postures of the target marker and the robot marker.