Liquid-assisted hard biotissue ablation with the pulsed lasers takes advantages in precision and compatibility than mechanical tools in traditional surgery. The objective of this study was to monitor the dynamic process of the cavitation bubble evolution induced by Ho:YAG laser under water and identify the opening time of channel formation between the fiber tip to the target tissue surface. A free-running Ho:YAG laser was used in the experiment. The wavelength was 2.1 μm with a pulse duration of 350 us and pulse energy varied from 500 mJ to 2000 mJ. The high-speed camera (PCO. dimax, Germany, PCO) applied to monitor the whole ablation process was setting at a frame rate of 52000 frames/s. The results showed that the cavitation bubble induced by laser energy experienced an oscillation process including occurrence, expansion, contraction and subsequent collapse. A channel connected the fiber tip and target tissue surface was formed during the dynamic process which allowed the following pulse energy transmitted through the channel with a relative low absorption and directly interacted with the target tissue. The beginning time of channel formation, as well as the duration of channel opening, as functions of incident laser energy were also presented. A micro-explosion was observed near the tissue surface during the bubble collapse, which may contribute to produce a clean cut, reduce the thermal injury and improve the morphology of ablation crater.