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The family of a doctor to the Queen who died when his bicycle collided with a lorry today called for the Mayor of London to create more “people-prioritised streets” at an inquest.

Dr Peter Fisher, 67, was fatally injured in High Holborn on August 15. He was a world expert in homeopathy and served as homeopathic physician to the Queen for about 15 years.

St Pancras coroner’s court heard he was in collision with a 20-tonne DAF delivery vehicle at about 9.30am near the junction with Newton Street.

Dr Fisher’s sister Susie Herne said in a statement read in court that her brother’s death was a tragic waste of life.

She said: “We urge the Mayor to urgently address the safety of people in London by looking at people-prioritised streets.”

Paying tribute to her brother, she said: “He was a remarkably gifted and special man. It’s an irreplaceable loss. He was an energetic man who cycled throughout his life.”

Lorry driver Samantha Southouse, who had 20 years’ experience, was on her way to a delivery in Regent’s Park when the incident happened. She said she did not see Dr Fisher “despite carrying out full mirror checks” and other safety measures. She said she had been driving slowly in traffic, adding: “I didn’t see him. I heard people shouting to stop the truck.”

Witness Simon Cooney said Dr Fisher “swerved” in the road, which reminded him of when he had “first taken off stabilisers” as a child. He said: “He swerved into the centre lane. Then the lorry went into him and went over him.”

But accident investigator Brian Gamble told the inquest that Dr Fisher had wobbled and swerved only after he had been in initial contact with the lorry.

Dr Fisher, who had been wearing a helmet, died of multiple injuries.

Coroner Mary Hassell recorded a verdict of death by road traffic collision.

A TfL spokesperson, said: “No death or serious injury is acceptable or inevitable and our thoughts are with the friends and family of Dr Peter Fisher.

"We are committed to a Vision Zero approach to eliminate death and serious injuries from London’s roads, including removing the most dangerous lorries, improving safety at intimidating junctions and lowering speed limits. We are working with Camden Council on proposals to reduce road danger in the Holborn area.”