A judge cleared the way Friday for the parents of a 12-year-old girl allegedly raped by her 17-year-old brother to take her out of state for a late-term abortion.

Probate Judge Pamela Gilbert O'Sullivan granted a prosecutor's request to withdraw a petition to take temporary custody of the girl. The petition, which the judge granted last week, had barred the parents from taking their daughter to a Kansas abortion clinic until she underwent a psychological evaluation.