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The capability of laser ablation to perform controlled cleaning of varnishes containing contaminants and paints used by restorers in artistic objects from brass samples while keeping unaltered the finish structure is demonstrated in this work. Adequate laser energy per pulse and number of laser shots required to perform a suitable cleaning by laser ablation have been optimized. The inspection of the samples before and after the cleaning process by optical microscopy and by Fourier transform infrared spectroscopy (FTIR) technique demonstrated that the finish structure of the surface was intact while the coatings were completely eliminated. Furthermore, a laser-induced plasma spectroscopy (LIBS)-based detection system was applied during the irradiation process for the analysis of the material removal and also for its monitoring.