Boston Mayor Thomas M. Menino was released from the hospital today, a week after he underwent surgery for an enlarged prostate.

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Menino left Brigham and Women’s Hospital at about noon and returned to Parkman House, a city-owned mansion on Beacon Hill.

In a video released by his staff, Menino thanked people for card, phone calls, and best wishes while he was hospitalized.

“I’m back at the Parkman House having meetings with my staff and my constituents,” Menino said with a smile. “I’m raring to go.”

Menino will have to return to the hospital to have stitches removed, but appeared to be in excellent spirits, according to his spokeswoman, Dot Joyce.

Menino underwent a surgical procedure to shrink his prostate and allow him to more easily empty his bladder. Dr. Charles Morris, the mayor’s primary care physician, told the Globe last week that Menino did not have cancer. Morris said the surgery was not unusual for a man the mayor’s age and was not an indication of a more serious underlying condition.

Menino, 70, will convalesce at Parkman House, where he has lived for much of the last five months because he has trouble with stairs in his home. Parkman House has an elevator.

The five-term mayor, who has announced he will not run for a sixth term, has endured a rash of medical problems in recent years and remains on crutches because he broke a leg bone in his ankle. He spent eight weeks hospitalized at the end of 2012 for a variety of aliments, which included a fractured vertebrae and the diagnosis of Type 2 diabetes.