GNU/Linux Mint Canon PIXMA TS5150/TS5151 Printer Setup – Step by step Guide
The linked tutorial shows you step-by-step How to Install Canon PIXMA TS5150/TS5151 Driver on Mint 18.x/19.x/20.x/21.x/22.x LTS GNU/Linux desktop – Step by step Tutorial.
And the Canon PIXMA TS5150/TS5151 Driver Mint Driver Setup It’s quick and easy because it only involves running a few Basic Shell Commands.
Especially relevant: after the Driver Installation to achieve the Printer Setup follow guidance to Add Printer!
Finally, included in the guide you find also instructions to QuickStart with Canon Scanning on Mint.

Canon PIXMA TS5150/TS5151 Printer Linux Mint Installation Guide