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The Italian suffered head and facial injuries in the crash on stage five of the race in Argentina and was placed in an induced coma for several days.
Last week he was transferred from a hospital in Buenos Aires, Argentina, to one in Pamplona, Spain, to continue his recovery and has now been discharged to start the rehabilitation process.
And Movistar insist there are no timescales for his return to the team, with Malori's progress determining how quickly the process moves.
"With all checkups scheduled for him complete and all injuries requiring hospital care ruled out, Adriano Malori has been released from the Clínica Universidad de Navarra on Thursday morning, the Italian admitted eight days ago after reaching Spain from Argentina in a medically-equipped flight," a Movistar press release said.
"Malori has moved to the Neurological Center for Integral Attention (CNAI) in Imarcoain, just next to Pamplona, where he will continue with rehabilitation in sessions that will keep him into activity for many hours a day. No schedule has been fixed for his recovery, which will entirely depend on the rider's evolution."
Another Movistar rider, Jonathan Castroviejo, has undergone surgery to repair his left elbow, which he broke in a collision with a spectator as he rode down from the summit finish of the final stage of the Volta ao Algarve on Sunday.
Castroviejo also fractured a vertebra in his neck, for which he is required to wear a neck brace for the next two months. Movistar say the Spaniard should be released from hospital early next week.
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