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He was taken to Ipswich Hospital for tests and left this morning.
'Bobby left the hospital to return home at about 10.30 this morning,' said a hospital spokesperson.
Robson had previously been treated for colon cancer and a malignant melanoma on his face.
He was taken ill shortly after being introduced to the Ipswich crowd.
Robson played for England, Fulham and West Bromwich Albion during a successful career.
He went on to make his name as Ipswich manager in the 1970s before managing England, Barcelona and Newcastle United.
He led England to the semi-final of the 1990 World Cup in Italy - the best performance by an England side away from home.