SALINAS -- A 40-year-old Salinas man has died in the hospital one day after struggling with police officers who fired several Taser rounds to subdue him, Salinas police said Monday.

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Video On Demand: Robert Handa On Taser-Related Death In Salinas

Initially hospitalized in serious condition after the 1:30 p.m. incident on Saturday, Robert Clark Heston was pronounced dead around 7:30 p.m. the following day, according to Salinas police Lt. Kelly McMillin.

Authorities initially were called to a home in the 100 block of Rodeo Avenue after reports of a fight between Heston and his 66-year-old father.

Officers left less than an hour later without making an arrest, only to be called back to the residence minutes later after Heston allegedly started assaulting his father.

Police fired several Tasers to bring Heston under control but the man allegedly continued to struggle with officers on the ground, according to police.