New York head team physician Dr. Christopher Ahmad performed the arthroscopic procedure Tuesday at New York-Presbyterian Hospital. The team described it as "a routine cleanup" and said Sabathia is expected to be ready for spring training.
"It's not something that's of concern or considered serious," general manager Brian Cashman said last week.
A 36-year-old left-hander, Sabathia pitched with a brace on the knee this year and went 9-12 with a 3.91 ERA, his lowest ERA since 2012.
He is due $25 million next year, the final season of his contract.
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