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The Duke of Edinburgh has left hospital after four nights of treatment in relation to a “pre-existing condition”.
Prince Philip, 98, was taken to the King Edward VII’s Hospital in London on Friday on the advice of his doctor.
Buckingham Palace said the “observation and treatment” was a “precautionary measure”.
The Queen, meanwhile, travelled from the palace in London to Sandringham Estate in Norfolk on Friday, where she is to spend Christmas.
The duke retired from public life in August 2017, after spending decades supporting the Queen and attending events for his own charities and organisations.
His last public appearance was Lady Gabriella Windsor’s wedding in May.
The Prince of Wales said on Monday his father had been “looked after very well” by hospital staff.
But Charles, who was visiting flood-hit communities in South Yorkshire, added: “When you get to that age things don’t work so well.”
It comes after news the Queen will use her Christmas Day message to acknowledge 2019 has been “quite bumpy”.
After a year of intense political debate over Brexit, as well as a number of personal events affecting the Royal Family, the Queen will say: “Small steps taken in faith and in hope can overcome long-held differences and deep-seated divisions to bring harmony and understanding”.
The monarch, 93, recorded her annual message, to be broadcast on BBC One at 15:00 GMT on Christmas Day, before Prince Philip was admitted to hospital.
It has been a year which, at times, may have felt “quite bumpy”, so the Queen will say in her Christmas broadcast.
It is a choice of words which will inevitably prompt speculation about what it is that she’s referring to.
She does not offer any clarification herself, though the remark is made in the context of overcoming what she calls “long-held differences” and how “small steps taken in faith and in hope can overcome deep-seated divisions”.
The obvious interpretation is that this is the Queen’s – as ever – coded message to the country to try to move on from the divisions of the Brexit debate, but the reference to a “bumpy” year may also be taken to refer to events within her own family after a year which has seen the Duke of Edinburgh’s car accident, the Duke and Duchess of Sussex complaining about the difficulties of being in the public eye and the controversies around Prince Andrew.
Last Christmas, Prince Philip missed the royals’ traditional Christmas Day trip to church but was said to be in good health.
In February, it was announced the duke had given up his driving licence. It came after he was involved in a collision with another vehicle near the Sandringham Estate.
The treatment he has received for various health conditions over the years include being treated for a blocked coronary artery in 2011.
The following year, the prince suffered a bladder infection and was forced to miss the Queen’s Diamond Jubilee concert.
He was also taken to hospital for an abdomen operation in 2013 and, in 2014, underwent surgery on his right hand.
Last year he had a hip replacement at the same central London hospital that he is now attending.
Prince Philip leaves hospital in time for Christmas
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