The fullback featured in Sunday's win against Barcelona, but the decision was made to undergo the scheduled operation.
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Real Madrid announced today: "Our captain Dani Carvajal underwent successful surgery today using arthroscopy on his right knee.
"The operation has been carried out by Dr. Manuel Leyes under the supervision of the Real Madrid Medical Services. Carvajal recovery work will begin in the coming days."
The injury involved the same right knee which saw Carvajal suffer an ACL injury last year.