Write a program to solve a Sudoku puzzle by filling the empty cells.
A sudoku solution must satisfy all of the following rules:
- Each of the digits
1-9must occur exactly once in each row. - Each of the digits
1-9must occur exactly once in each column. - Each of the digits
1-9must occur exactly once in each of the 93x3sub-boxes of the grid.
The input is a 9x9 2D array where 0 represents an empty cell. Return the completed board.