The 88-year-old was able to leave the Gemelli Hospital in Rome four weeks ago after spending more than a month in the hospital.
The head of the Catholic Church has now been in the Gemelli Hospital in western Rome for almost three weeks.
The clinical condition of Pope Francis, who is suffering from pneumonia, has improved slightly, the Vatican said late on Thursday.
Pope Francis was discharged from a hospital in Rome on Friday following an operation on his abdomen.
The operation will be performed under general anaesthetic in a procedure involving an abdominal cavity incision.
Pope Francis has been hospitalised in Rome, where he will stay for several days, the Vatican said.
