The Chinese helicopter carried the scientists and tourists from the Russian ship MV Akademik Shokalskiy in groups of 12 to an Australian icebreaker, said the Australian Maritime Safety Authority's Rescue Coordination Centre, which oversaw the rescue.
The Aurora Australis will now take the passengers to the Australian island state of Tasmania, a journey expected to last two weeks.
"I think everyone is relieved and excited to be going on to the Australian icebreaker and then home," expedition leader Chris Turney told The Associated Press by satellite phone from the Antarctic.
The eagerly anticipated rescue came after days of failed attempts to reach the vessel. Blinding snow, strong winds, fog and thick sea ice forced rescuers to turn back time and again.
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Three icebreakers were dispatched to try and crack their way through the ice surrounding the ship, but all failed. The Aurora came within 20 kilometres of the ship Monday, but fierce winds and snow forced it to retreat to open water.
A last-minute change in plans allowed the rescue to go ahead. The passengers were instead flown to an ice floe next to the Aurora and then taken by a small boat to the Australian ship, Turney said.
Turney had hoped to continue the trip if an icebreaker managed to free the ship. Despite his disappointment over the expedition being cut short, he said his spirits remained high.
"I'm a bit sad it's ended this way," he said. "But we got lots and lots of great science done.