Published: May 04, 2010 11:30 PM EDT

CAPE CORAL, Fla. - Seven Cape Coral police officers have been cleared in a December 20 shooting, which has been ruled "justified" by the state attorney's office.

The shoot-out occurred at the Steak 'n Shake restaruant on Pine Island Road, as police were attempting to apprehend four suspects from a home invasion and robbery incident.

During the incident, Lehigh Acres resident Tyson Richardson, age 21, was killed and two others were injured.

The officers will now return to their normal duties.