Nadal started the year having recovered from an abdominal injury and ankle surgery to reach the final of the Australian Open, where he was convincingly beaten by Novak Djokovic.
The Spaniard then had a hand problem in Acapulco as he lost to Nick Kyrgios in Mexico.
But his biggest disappointment came when he was forced to withdraw from the Indian Wells semi-finals with a knee injury in March.
In June after winning a 12th French Open title, Nadal spoke openly about those struggles, admitting: “Mentally, after Indian Wells, I suffered a major downturn.
“I considered shutting down my season to see if my body would recuperate instead of playing through injury after injury.
“Another option was to press on and play through the pain. Either way, the outlook was bleak.”
Since March, Nadal managed his schedule carefully and has been injury-free.
However, the return to hard courts has brought back fears Nadal could suffer a recurrence of the issues that have plagued him.
Speaking in an interview with the ATP ahead of his first match at the Rogers Cup this week, Nadal explained where he now is physically.
And the 33-year-old said he was “super happy” about deciding to continue playing.
“I am good,” Nadal explained.
“I am super happy that finally, I took the decision to keep going and I did it with the right attitude and I think the right energy.
“Since Madrid, my body is holding [up] well, having important issues that I am able to play without limitations. And that is the most important thing.
“I know I am going to play with pain but the main thing is to play without limitations.
“That you can play without thinking about if you can do this movement or not.”
Nadal plays on Wednesday in Montreal against either Alex de Minaur or Dan Evans.