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"Our dear Beth Carvalho departed at 5:33 pm (2233 GMT) today surrounded by the love of her family and friends," according to a statement issued by publicist Afonso Carvalho.
The statement did not specify cause of death, but the Pro-Cardiac Hospital said in a WhatsApp message that Carvalho had succumbed to a "generalized infection (sepsis)."
Sepsis is a life-threatening condition in which the body is attacked by its own immune system.
Carvalho had been confined to a wheelchair in recent years due to back problems.
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She had continued to perform, however, moving Brazilian fans with hits including "Coisinha do Pai" or "Father's Little Thing."
In a career spanning 50 years, Carvalho was a symbol of the Brazilian samba school Mangueira.
Carvelho recorded more than 30 albums and won two Latin Grammy awards among others.