First, connect the printer to your Mac to see if OS X 10.9 Mavericks already has the necessary drivers installed.
If your printer is not recognized, download the latest drivers here:
http://www.usa.canon.com/cusa/support/consumer/printers_multifunction/pixma_mg_s eries/pixma_mg5520#DriversAndSoftware
NOTE: For the above link, the driver description shows MG5500 series, although the US site only lists the MG5520, not the MG5550.
If you're not in the US, then go first to the worldwide site canon.com, and select your country, then select Consumer and Home Office, Support and Drivers at the very top of the screen. Select your printer (or nearest relative) from the list, then Drivers and Software Your operating system (Mavericks) should be automatically detected and display a page something like the following:

I would select the 'Full Driver and Software Package' to download. You'll have to check 'Agree' to their support terms and conditions and the file will automatically download to your hard drive in the Downloads folder.
When the download is done (according to the tiny Downloads' bar graph that appears under the Downloads folder on your desktop bottom Dock), Open the Downloads folder, select the file just downloaded;
The US version filename is : mac-mg5500-1_1-mcd.dmg
Double-click on it to begin installation.