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Menzies-Urich’s husband, Robert Urich, also died from a rare form of cancer in 2002. She then founded the the Robert Urich Foundation, which raised money for cancer research and support for patients, CNN reports:

“After my husband lost his battle on April 16th, 2002, I vowed that I would make it my life’s mission to continue to fight for his dream and vision: a world where the word ‘cancer’ is simply a memory of war we have won,” Menzies-Urich wrote on the foundation’s website.

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Menzies-Urich had three children and eight grandchildren. Her son, Ryan Urich, said in a statement, “She was an actress, a ballerina and loved living her life to the fullest.”