It seems that Canon were not reactive enough providing official drivers for OSX Mavericks for their SELPHY CP810 / CP900 printers.
Well, I’ve followed a guide founded here: https://discussions.apple.com/message/23725252#23725252
And here is your driver compatible with OSX 10.9 🙂
You might need to disable security check as said on the documentation.
Thanks redogg for the tutorial.