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Daniel Prude was arrested in March after behaving erratically on a city street. Officers placed a protective hood over his head, and Prude ultimately stopped breathing. He died a week later.

Rochester, N.Y.'s police chief resigned Tuesday along with other department leaders. The department has been the subject of protests after the death of a Black man during his arrest.

Attorneys representing Nathaniel McFarland, one of Prude's five children and the administrator of his estate, also allege civil rights violations and gross negligence in the lawsuit filed Monday.

"Her understanding is that the officer basically told her 'I can't do that. I can't call anyone else,' " family attorney Lorenzo Napolitano told NPR Thursday.

Stanley Martin wants to rethink Rochester police — a radical new plan to abolish the police gradually. Others also talk about "reimagining" police, though they mean the same word very differently.

"We concluded that there was sufficient evidence surrounding Mr. Prude's death to warrant presenting the case to a grand jury, and we presented the most comprehensive case possible," officials said.

The incident renews scrutiny of the city and its police department following the death of Daniel Prude, a Black man who died of asphyxiation after an encounter with police in March.

The suspect in a fatal shooting of a protester in Portland was killed by law enforcement. Protests against police violence continue in Rochester, N.Y. And Trump holds a Pennsylvania rally.

Premieres Monday, July 8, 2013 at 8:00 p.m. ET/PT. Check your local listings.

Daniel Prude's family knew he was having a psychiatric crisis and needed care. A few hours after his release from Strong Memorial Hospital, an encounter with police proved fatal.