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In 1996, Urich announced that he had been diagnosed with a rare form of cancer, synovial sarcoma, that arises in soft tissues.
The TV series he was working on at the time, The Lazarus Man, was ultimately canceled-he cited his failing health as the reason.
He continued to appear in film and TV during treatment, but ultimately died from the disease on April 16, 2002 at the age of 55.

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