Currently various surgeries are performed using surgical laser sources and stereo-microscopes. Automated tissue ablation offers many advantages over free hand surgical procedures as it is faster, more accurate, much efficient and offers great dexterity, particularly for complex ablations. This paper discusses the dynamic modeling and control of the ABB IRB 120 robot that has a surgical laser waveguide, attached to its end effector. A graphical user interface has been designed that utilizes the camera feed to generate the trajectory points for the robot to move in the work space. The trajectory points are then sent to the controller via ROS communication. As a result, the laser waveguide follows a desired trajectory with a predetermined velocity to accomplish the task.