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He is now recovering following the operation in Newcastle.
The 73-year-old was taken ill while watching Ipswich two weeks ago, and was suspected to have suffered a stroke.
Extensive tests revealed a tumour the size of a grape, and he is expected to make a full recovery.
A spokesman for the former Newcastle manager said: 'Sir Bobby Robson underwent an operation in Newcastle to remove a small tumour on his brain.
'The operation went very well and the tumour was completely removed. Sir Bobby is recovering in hospital where he will be attended by his consultants over the next couple of days.
'The Robson family are extremely grateful for the many calls which have been received inquiring about his condition.
'They would very much appreciate if no more inquiries were directed to the hospital and a further statement will be issued when there is more information.'
Robson has already battled against cancer three times, and earlier this year had a tumour the size of a golf ball removed from a lung.
As well as England and Ipswich, Robson has managed Barcelona, PSV Eindhoven, Sporting Lisbon, FC Porto and Newcastle United during his distinguished managerial career.
He will miss Ireland's opening Euro 2008 qualifier against Germany in Stuttgart on 2 September but the FAI is hopeful he will be able to resume his duties alongside manager Steve Staunton for the games against Cyprus and the Czech Republic in early October.
http://www.rte.ie/sport/2006/0824/robsonb.html