To use your printer with OSX 10.5.5 you will need to try downloading and using a Cups printer driver like Splix which you can get from here http://www.guigo.us/mac/splix/
Just download the Cups file to your desktop and then run the installer and try to install the printer using the cups driver and let me know how you get on.
So the downlad link was broken when you clicked the folder on the left side?
If so can you try following this link and trying Darios method as it is the only other way to get this to work if you cannot download the Guigo file http://research.tannerpages.com/Blog/Good-Samartin-Blog/ML-1610-Printer-on-Mac-OS-X--10-4----Tiger--on-an-Intel-iMac
Let me know how you get on and if you have any issues.
Were you ever able to get Splix to download, If so we may be able to reset your printing system then try a fresh install.
Let me know
If it mounted and you then installed it it should have put the CUPS drivers into your printer folder so you can use it as an available printer driver.
If you go to system preferences then remove your Samsung printer can you then go back and add a new printer and tell it to use the CUPS driver which should be in the list for your Samsung.
Let me know what happens.
Were there no options for splix or cups at all?