Although palatal canine impactions are relatively infrequent, they require adequate surgical skills and orthodontic biomechanics for optimal management. The open surgical approach is widely used to expose deeply impacted palatal canines. Virtual surgical guidance allows for more precise access and shorter surgical time. This case report shows the use of a virtual surgical guide to facilitate a minimally invasive surgery to expose deeply palatally impacted canines. This approach may likely reduce some of the previously reported adverse effects associated with the surgical exposure of palatally impacted canines.