Lisa Rinna mourns dad Frank's death

BEVERLY HILLS, Calif., Jan. 22 (UPI) -- Lisa Rinna's dad, Frank Rinna, died Thursday at age 93.

The 53-year-old Real Housewives of Beverly Hills star announced her loss on social media, sharing a photo of Frank with her mom, Lois Rinna, on Instagram.

"The world lost a great man today...... Heaven got a great angel. I love you Dad," she wrote, later tweeting, "Thank you for all of your kind messages. My family and I so appreciate all of the love. Dad passed singing 'My Way' Sinatra was his fav."

Frank had been in poor health for months, and was hospitalized a fourth time for pneumonia in April. Rinna expressed guilt about being far from her parents during a visit to her childhood home in Medford, Ore., on a 2014 episode of Real Housewives.

"It's really, really hard," she confessed. "What I'm realizing now is that I'm the adult. I'm taking care of my parents. You never prepare for that ... It's hard not having your parents be young and not full of life." The star addressed the issue again in a blog post in December.

"It's so hard living as far from my aging parents as I do," she wrote. "I thank God every day, though, that my family, particularly my mother, has such a good sense of humor about life. Laughter has helped us get through some pretty touch times together and for that I am thankful."

Lisa Rinna shared a photo of her parents, Frank and Lois Rinna, following her dad's death Thursday. Photo by Lisa Rinna/Instagram

Rinna herself is mom to 17-year-old daughter Delilah and 14-year-old daughter Amelia with husband Harry Hamlin, whom she wed in 1997. The reality star is known for Days of Our Lives and Melrose Place, and joined Real Housewives in Season 5.