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"It is with great sadness that I announce the death of my mother, Joan Rivers. She passed peacefully at 1.17 pm surrounded by family and close friends," Melissa Rivers said.
Ms Rivers had one daughter, Melissa, and one grandson, Cooper. Her husband, Edgar Rosenberg, died in 1987.
Melissa Rivers added: "Cooper and I have found ourselves humbled by the outpouring of love, support, and prayers we have received from around the world. They have been heard and appreciated," she said.
Joan Rivers was an American actress, comedian, writer, producer, and television host, best known for her stand-up comedy for co-hosting the E! celebrity fashion show Fashion Police, and for starring in the reality series Joan & Melissa: Joan Knows Best? alongside her daughter Melissa.