The interaction between a metal surface and multiple pulses was investigated to achieve optimal focusing conditions during ultrashort laser ablation. We report a simple theoretical expression of morphological changes in the ablated channel and demonstrate its advantage in positioning the interactive surface at the focus in real time during multiple-pulse laser ablation of a metallic material. Experimental results on the ablation depth for zinc, nickel, and copper show that the combination of a dynamic focusing system and a theoretical formula of ablation-cycle-dependent ablation depth enables one to control the shape of ablated channels. This model can be applied to a variety of high-efficiency ablation systems and may play an essential role in the development of a high-precision ablation system for the curved surfaces in highly scaled metal gravures used in printed electronics, which currently present challenges for engineers and technicians.