After missing the first 43 games of the season rehabbing a torn ACL in his right knee, Kendrick Perkins took the court for the first time with his Celtics teammates on Tuesday night as they played the Cleveland Cavaliers.

Perkins injured the knee in the first half of Game 6 of the 2010 NBA finals in Los Angeles as the Celtics – without their starting center and defensive, shot-blocking presence in the low post – lost Games 6 and 7, falling just short of a record-18th NBA title.

Three different players – Shaquille O’Neal, Jermaine O’Neal and Semih Erden – have started at center this season and while Perkins is coming off the bench, his return Tuesday certainly bolsters the depth at that position.

Shaq had started 17 straight and 33 overall before injuring his right hip on Friday against the Jazz. Erden has started the last two and now six overall. Jermaine O’Neal has started the remaining five times in the low post.

Doc Rivers would not commit to when Perk will eventually return to the starting lineup and until then, it’s likely to be Erden getting most of the minutes.

Perkins returned to game action with 8:02 left in the first quarter when Erden picked up two quick fouls. He lasted until 2:37 left, giving him five minutes, 25 seconds of continuous action. He collected a lay-up, missed a free throw, grabbed a rebound, dished out two assists and picked up a foul.