"I'm ready whenever they need me; I'm ready," Figaro said.
Figaro first aggravated his right oblique after colliding with Marlins catcher Rob Brantly on June 12. He made two more starts with the Brewers but was placed on the 15-day DL and sent to rehab in Arizona on June 25. It was a longer and slower recovery than anticipated.
"Nothing you can do, because it's not like there's not any treatment," Figaro said. "Just take your time, just try and heal and get better. To me, It's not like an elbow or shoulder. It's bad because you can't even throw; you can't reach."
Figaro joins a bullpen that lost it closer, Francisco Rodriguez, in a trade to the Orioles on Tuesday. Figaro said the team did not discuss his role with him yet but that he was open to whatever they had planned.
Brewers manager Ron Roenicke said he would test the closing waters with Jim Henderson and John Axford -- each of whom closed for the team earlier this season -- and possibly use Michael Gonzalez in the ninth against left-handed hitters.
Roenicke had said reliever Tyler Thornburg would drop back down to Triple-A Nashville with Figaro's return, but Rodriguez's departure opened another roster spot.
Adam McCalvy is a reporter for MLB.com. Read his blog, Brew Beat, and follow him on Twitter at @AdamMcCalvy. Kevin Massoth is an associate reporter for MLB.com. This story was not subject to the approval of Major League Baseball or its clubs.