Ford, 93, flew home to Rancho Mirage, Calif., with his wife Monday afternoon, Mayo spokesman Lee Aase said.
"He's doing well after having had those procedures in the last week," Aase said.
Ford's office issued a statement thanking Mayo staff.
"The Fords also wish to thank the American people for their prayers and countless messages of good wishes," the statement said.
Ford spent a few days in Colorado's Vail Valley Medical Center in July because of shortness of breath. In January, he was hospitalized for 12 days in Rancho Mirage to treat pneumonia. Five years ago, Ford suffered two small strokes and spent about a week in a hospital.
Ford became the nation's oldest living former president after the death of Ronald Reagan in 2004.
He was House minority leader when President Nixon chose him to replace Spiro Agnew, who resigned, as vice president in 1973.
Ford became president on Aug. 9, 1974, when Nixon resigned amid the Watergate scandal.