Medical lasers are commonly used in interventions to ablate tumor tissue. Recently, the picosecond infrared laser has been introduced, which greatly decreases damaging of surrounding healthy tissue. Further, its ablation plume contains intact biomolecules which can be collected and analyzed by mass spectrometry. This allows for a specific chracterization of the tissue. For a precise treatment, however, a suitable guidance is needed. Further, spatial information is required if the tissue is to be characterized at different parts in the ablated area. Therefore, we propose a system which employs optical coherence tomography as the guiding imaging modality. We describe a prototypical system which provides automatic ablation of areas defined in the image data. For this purpose, we use a calibration with a robot which drives the laser fiber and collects the arising plume. We demonstrate our system on porcine tissue samples.