MotoGP champion Jorge Lorenzo has been cleared to ride in this morning's Assen warm-up session after passing a medical check.

The Factory Yamaha star made a shock return to the Dutch paddock on Friday night, having flown back from Barcelona where he had undergone surgery for a broken left collarbone, sustained in a Thursday fall at the Dutch circuit.

"Following a medical examination this morning by the Assen Medical Team and the MotoGP Medical Director, Yamaha Factory Racing's Jorge Lorenzo has been declared fit for the morning Warm-Up session," read a team statement.

"A further medical check will take place following the morning session to assess the World Champion's ability to compete in this afternoon's race."

During the two hour operation in Barcelona, a titanium plate and eight screws were used to stablise the "complex" fracture.

The Spaniard is presently just seven points behind title leader Dani Pedrosa and would be able to start twelfth on the grid - Lorenzo's free practice time granting him a place in Friday's Qualifying 2 session, despite his absence.