Britain's Prince Philip leaves hospital

Britain's Duke of Edinburgh has been discharged from hospital following heart surgery on a blocked coronary artery.

The 90-year-old royal was sitting in the front passenger seat of a dark Range Rover as he was driven away, five days after he was admitted.

"He will be rejoining the Queen and other members of the royal family at Sandringham," said a Buckingham Palace spokeswoman. He sat upright and smiled broadly as he left the hospital.

In a statement, Buckingham Palace said: "On departure, Prince Philip thanked the staff at Papworth for the excellent care he has received during his stay.

"He is very much looking forward to rejoining his family."

The BBC's Emma Jane Kirby said the prince had been advised by doctors to rest.

The Queen has been briefed regularly on her husband's condition.

On his arrival at Papworth doctors discovered a blocked artery and went ahead with a "minimally invasive procedure of coronary stenting", which was declared a success.

Stenting involves inserting a tube called a stent into an artery, to improve blood flow.

The Duke's next formal engagement is not until 17 January when he is due to attend a dinner at the Scott Polar Research Institute at the University of Cambridge.

On Christmas Day, Princes William and Harry drove separate cars to the hospital from Sandringham, the Queen's private Norfolk estate, taking the Duke of York's daughters Beatrice and Eugenie and the Princess Royal's children Zara and Peter with them for the 45-minute visit to their grandfather.

Prince Philip missed the family's annual Boxing Day shoot, which he usually leads.

The Queen's Christmas Day message, recorded before her husband fell ill, described the importance of family. In her annual address to the nation, she spoke of her grandchildren's 2011 weddings.

In times of hardship we often "find strength from our families" and in a crisis communities "break down barriers and bind together" to help each other, she said.

"The importance of family has, of course, come home to Prince Philip and me personally this year with the marriages of two of our grandchildren, each in their own way a celebration of the God-given love that binds a family together."

"He is returning to Sandringham by car.

"On departure, Prince Philip thanked the staff at Papworth for the excellent care he has received during his stay.

"He is very much looking forward to rejoining his family."