Britain's Prince Philip left the hospital Tuesday, after undergoing treatment for a blocked coronary artery.

Philip, Queen Elizabeth II's 90-year-old husband, spent four nights in the hospital recovering from a successful coronary stent procedure. He was taken to Papworth, a specialist heart hospital in Cambridge, on Friday after complaining of chest pains.

It was the most serious health scare suffered by Philip, who is known to be active and robust. He has continued to appear at many engagements, most recently taking a 10-day tour of Australia with the queen.

For the first time in years he was forced to miss the Royal Family's traditional Christmas festivities, which include attending a morning church service, viewing the queen's annual Christmas broadcast together, and a shooting party on Boxing Day.

Philip did not speak to reporters as he was driven away from the hospital in a Range Rover Tuesday morning, though he smiled and waved to those gathered to film his departure.

He will return to Sandringham, the queen's private estate in rural Norfolk, to join the queen and other royal family members, Buckingham Palace officials said. The officials spoke on condition of anonymity in line with policy.