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From Spenser: For Hire to EMERIL, Robert Urich has been one of the most popular TV actors for the past twenty-five years. In 1996, following the final production of the first season of The Lazarus Man, Robert was diagnosed with Synovial Cell Sarcoma, which is a rare soft tissue cancer. He is survived by his wife, Heather, and three children, Ryan, Emily, and Allison.