The heavy metal legend passed away on Tuesday, July 22, surrounded by family, weeks after a final performance with Black Sabbath. He leaves behind his wife, Sharon, 71, and six children: Aimee, 40; Kelly, 39; and Jack, 38, whom he shares with Sharon, as well as son Louis, 49; Jessica, 51; and Elliot, 47, from his first marriage to Thelma Riley.

Ozzy Osbourne spent some of his last moments surrounded by his family. He recently spent time bonding with his daughter and her son.

Before Ozzy Osbourne died on July 22 in Buckinghamshire, England, a "helicopter was dispatched to provide advanced critical care," a Thames Valley Air Ambulance spokesperson confirmed to PEOPLE in a statement.

Ozzy Osbourne’s former daughter-in-law, Lisa Stelly, paid tribute to him following his death at the age of 76. On July 24, the ex-wife of Jack Osbourne posted photos to Instagram as she recalled happy times with the late Black Sabbath legend.

The Osbourne family is speaking out on the loss of Ozzy, with daughter Kelly paying tribute on Instagram as her former sister-in-law, Lisa Stelly, shares never-before-seen moments with the rock legend.

When Ozzy Osbourne died, the Prince of Darkness left behind a kingdom, including Sharon Osbourne, Aimee Osbourne, Kelly Osbourne, Jack Osbourne, Louis Osbourne, Jessica Osbourne and Elliott Osbourne.

The legendary Black Sabbath rocker, who was dubbed the Prince of Darkness, died “surrounded by love” Tuesday at age 76.

Ozzy Osbourne famously invited the world into his home to share a glimpse into the wild inner workings of his family on MTV’s The Osbournes. Days after the heavy metal legend’s death at 76, a former crewmember from the show — which ran from 2002 to 2005 — fondly reflected on the madness that came