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Veteran TV actress Ann Morgan Guilbert has died at age 87. She passed away Tuesday due to complications from cancer. Guilbert first launched her career in the ’50s, performing and singing in a revue. She became a TV staple a decade later, playing neighbor Millie Helper on The Dick Van Dyke Show. Years later, Guilbert had a second notable role, starring as Fran Drescher’s grandmother Yetta Rosenberg on The Nanny. Guilbert was an active TV presence even recently, her last performance having come this year on CBS’s Life in Pieces. News of Guilbert’s passing was confirmed by her daughter, Nora Eckstein.