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Belt underwent the procedure Thursday with foot and ankle specialist Dr. Robert Anderson in Green Bay, Wisconsin.
The Giants said Tuesday that Belt traveled home last weekend and is set to begin the rehab process and physical therapy this week. Belt, 32, batted .309 with nine home runs and 30 RBIs playing 51 games in 2020.
San Francisco missed the playoffs on the final day of the shortened 60-game season, finishing 29-31 under first-year manager Gabe Kapler.