He told the tribunal he ceased clinical nursing practice during the police investigation. In 2008 he resigned from the DHB and stopped nursing.
He was found guilty by a jury and imprisoned by Judge Anna Johns in 2008, but the conviction was quashed by the Court of Appeal and a new trial was ordered.
The health tribunal said Mr Henderson told it that in prison he suffered "assaults and abuse: mental, physical and sexual".
He pleaded guilty at the second trial to avoid being incarcerated again.
One of the victims was a schoolgirl, then aged 16, who said Mr Henderson pulled down her skirt and underwear and touched her as she lay in the ambulance.
Another collapsed on a Ponsonby street while jogging and woke in the ambulance. Mr Henderson lifted her T-shirt and bra and touched her breasts.
The final victim said Mr Henderson put his hand on her genitals while asking her if the touching hurt, and didn't move his hand when she looked at him.
Mr Henderson, aged in his late 30s, urged the tribunal to consider suspension, but it ruled the only responsible step was cancellation.
However, the tribunal also considered the possibility of his applying for re-registration.
Mr Henderson had indicated his wish to become an industrial nurse after finishing his apprenticeship as an electrician next year.
It is up to the Nursing Council whether to re-register a struck-off nurse.
The tribunal suggested the council "may well wish to consider receiving" such an application after Mr Henderson's name has been off the register for a year, in addition to considering referring him for assessment by its health committee.
The tribunal also censured Mr Henderson and ordered him to pay $4230 towards the cost of his tribunal prosecution.
