The actor best known for starring in the TV shows "Vega$" and "Spenser: For Hire" succumbed to cancer at age 55. ent_urich_robert.jpg G0 Robert Urich Dies NECN.com #641c5c video.gif http://necn.com/source.asp?adcat=homepage&ID={7E336EF0-6207-4F3E-944A-47EC2015F719} PLAY video.gif rotary_default