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The 22-year-old "has completed his journey home," the family said in a statement.
"Unfortunately, the awful, torturous mistreatment our son received at the hands of the North Koreans ensured that no other outcome was possible beyond the sad one we experienced today," his parents said.
Doctors had described his condition as a state of "unresponsive wakefulness" and said he suffered a "severe neurological injury" of unknown cause.
His father, Fred Warmbier, said last week that he believed Otto had been fighting for months to stay alive to return to his family. Their statement Monday said he had looked uncomfortable and anguished after returning June 13, but his countenance later changed.
"He was peace. He was home, and we believe he could sense that," they said.
Warmbier was convicted of subversion after he tearfully confessed that he had tried to steal a propaganda banner while visiting with a tour group from China. He was sentenced to 15 years in prison with hard labor in North Korea.
The University of Virginia student was held for more than 17 months. His family said last week they were told he had been a coma since soon after his March 2016 sentencing.
Doctors said he has suffered extensive loss of brain tissue and "profound weakness and contraction" of his muscles, arms and legs. His eyes opened and blinked, but without signs of understanding verbal commands or his surroundings.
North Korea said he went into a coma after contracting botulism and taking a sleeping pill. Doctors in Cincinnati said they found no active sign of botulism nor evidence of beatings.
His parents told The Associated Press in a statement the day of his release that they wanted "the world to know how we and our son have been brutalized and terrorized by the pariah regime " and expressed relief he had been returned to "finally be with people who love him."
Fred Warmbier praised his son's "performance" and President Donald Trump's administration. He was critical of former President Barack Obama's approach to his son's situation.
President Trump called North Korea a "brutal regime" following Warmbier's death.
"Lot of bad things happened, but at least we got him home to be with his parents," Trump said.
The younger Warmbier grew up in the northern Cincinnati suburb of Wyoming. He was salutatorian of his 2013 class at the highly rated high school, and was on the soccer team, among other activities.
Ohio's U.S. senators sharply criticized North Korea last week.
Republican Sen. Rob Portman said North Korea should be "universally condemned for its abhorrent behavior." Democratic Sen. Sherrod Brown said the country's "despicable actions ... must be condemned."
The Warmbiers have "had to endure more than any family should have to bear," Portman added.
Three Americans remain held in North Korea. The U.S. government accuses North Korea of using such detainees as political pawns. North Korea accuses Washington and South Korea of sending spies to overthrow its government.
At the time of Warmbier's release, a White House official said Joseph Yun, the U.S. envoy on North Korea, had met with North Korean foreign ministry representatives in Norway the previous month. Such direct consultations between the two governments are rare because they don't have formal diplomatic relations.
At the meeting, North Korea agreed that Swedish diplomats could visit all four American detainees. Yun learned about Warmbier's condition in a meeting a week before the release from the North Korean ambassador at the U.N. in New York. Yun then was dispatched to North Korea and visited Warmbier June 12 with two doctors and demanded his release on humanitarian grounds.
FULL STATEMENT FROM THE WARMBIER FAMILY
It is our sad duty to report that our son, Otto Warmbier, has completed his journey home. Surrounded by his loving family, Otto died today at 2:20 p.m.
It would be easy at a moment like this to focus on all that we lost - future time that won't be spent with a warm, engaging, brilliant young man whose curiosity and enthusiasm for life knew no bounds. But we choose to focus on the time we were given to be with this remarkable person. You can tell from the outpouring of emotion from the communities that he touched - Wyoming, Ohio and the University of Virginia to name just two - that the love for Otto went well beyond his immediate family.
We would like to thank the wonderful professionals at the University of Cincinnati Medical Center who did everything they could for Otto. Unfortunately, the awful torturous mistreatment our son received at the hands of the North Koreans ensured that no other outcome was possible beyond the sad one we experienced today.
When Otto returned to Cincinnati late on June 13th he was unable to speak, unable to see and unable to react to verbal commands. He looked very uncomfortable - almost anguished. Although we would never hear his voice again, within a day the countenance of his face changed - he was at peace. He was home and we believe he could sense that.
We thank everyone around the world who has kept him and our family in their thoughts and prayers. We are at peace and at home too.
- Fred & Cindy Warmbier and Family
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