The pontiff, 71, left Gemelli Hospital in Rome on Saturday afternoon following an operation to remove the lower lobe of his right lung on Tuesday.
He is set to lead a traditional noontime Angelus prayer from a window of the papal apartment in the Apostolic Palace overlooking St. Peter’s Square in Vatican City.
After greeting the crowds gathered in St. Peter’s Square, he thanked those around the world who have prayed for his health and recovery in recent days.
He said he will slowly return to full duty as leader of the Church. “Having overcome this delicate phase … I will now gradually resume my activities, always with the help of God and your prayers.”
The surgery on October 13 lasted around 90 minutes and was described as successful.
He was expected to recover in hospital for about a week, but left earlier than expected on Saturday afternoon after doctors said he was “fit for discharge” following blood tests and a chest X-ray.
He walked to his car unaided, smiled and stopped to speak to well-wishers. He waved at cheering crowds from inside a car as he left the hospital.
On Friday, before returning to the Vatican, Pope Leo celebrated Mass in a makeshift chapel in the hospital.
The Pope was originally sent for treatment at Rome’s Gemelli hospital for the removal of the small nodule, which he said was spotted early during a recent check-up.
Pre-operative tests had suggested adenocarcinoma, and this was confirmed during the operation, the Vatican said.
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