You should do what Nathan suggests above. (You don’t need to claim the USB interfaces used for the virtual COM ports; the native USB interface is more powerful than those interfaces combined.) The only documentation we have for the Maestro’s native USB interface is in Usc.cs in the Pololu USB SDK, but that should be enough for you to figure out what you need. For basic use, you should look at the setTarget method and see what kind of control transfer it uses.
If you have trouble doing this, please post your code here. We have a Mac here that runs 10.7.3 so I can test your code on my machine and probably get it working. I recommend using libusb 1.0 and libusb_control_transfer.
–David