Can I use an HP Deskjet 810C with a my laptop?

I am trying to make an HP desktop printer work with my laptop, but the computer wants me to use MAC OS 9.1 or better... I have Panther. Disc 2 of Panther has an HP driver pkg but says there is nothing to install (?) when I tried to. I bought this laptop with Tiger on it, but don't have the install discs for it. What can I do? Thanks.
cathylee

powerbook G4 Mac OS X (10.4.8)