The family of Joan Rivers has reached a settlement with the clinic accused of contributing to the late comedian's death in 2014.

"In choosing to accept this settlement, I am able to put the legal aspects of my mother's death behind me and ensure that those culpable for her death have accepted responsibility for their actions quickly and without equivocation," Joan's daughter, Melissa Rivers, said in a statement.

"Moving forward, my focus will be to ensure that no one ever has to go through what my mother, Cooper and I went through and I will work towards ensuring higher safety standards in out-patient surgical clinics."

Rivers had gone in for a seemingly routine procedure at the Yorkville Endoscopy clinic in Manhattan.

Once under, though, she had a laryngospasm, a spasm of the vocal cords that makes it difficult to breathe, according to medical examiners.

A lawsuit filed by her family maintained the clinic performed procedures without Rivers' consent, which doctors deny.

The exact terms of the settlement are confidential.

This morning on Today, Matt Lauer revealed he had talked to Melissa about the case. "The discovery process for this was extremely emotional," he said. "As part of the process she actually got to learn what her mom's last words were. She says those will remain personal but she's satisfied that the doctors at the clinic have accepted responsibility for what happened to her mother."