Wende, the actor's wife of 28 years, and close pal Steve Stevens were by Doohan's side when he passed away at his Redmond, Washington home.
Doohan shot to fame in the original 1966 Star Trek series as Montgomery Scott, the chief engineer of the Starship Enterprise.
But when the NBC show was cancelled in 1969 after just three series, Doohan found himself typecast as the Scottish technician, and was plagued by the command, "Beam me up, Scotty", which his character responded to in each episode.
Doohan, who went on to star in the Star Trek spin-off movies, recently explained, "In 1973, I complained about Scott to my dentist. He replied, 'You'll be Scotty long after you're dead. If I were you, I'd go with the flow.'
"I took his advice and since then everything's been just lovely."
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