The never-ruffled, ruggedly handsome tough-guy star of "Vega$" (ABC, 1978-81) and "Spencer: For Hire" (ABC, 1985-88), Robert Urich, who long played characters who were up to the task no matter how daunting, demonstrated the same resilience in his personal life, bouncing back no matter how many TV shows of his got canceled. His biggest challenge, however, came in 1996 when he learned he had a rare…
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