"The book was meant to portray Nelson Mandela's courage and strength until the very end of his life, and was in no way intended to be disrespectful".
Penguin Random House South Africa decided on Monday to immediately withdraw the book.
In a television interview yesterday, Ramlakan again said he was "requested by the family to write the book".
"It documents the complex medical decisions; disputes between family members and staff; military, political, financial and security demands; constant scrutiny from the press; and the wishes of Mandela himself, all of which contributed to what he and those closest to him would experience in his final days", according to Penguin Random House, the publisher.
Dr Ramlakan also alleges the ambulance carrying Mandela to hospital broke down, leaving him stranded for 30 minutes.
"While the writer says he had permission from one family member, I don't think any single member has the authority to do that", said Bizos.More news: Stone Temple Pilots Pay Tribute To Chester Bennington
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Ramlakan detailed Mandela's last years, including intimate moments, prior to his death.
Machel said she had not been consulted, though Ramlakan claimed that the book had been approved. He however did say; "Let me say all parties who needed to be consulted were consulted, all from a point of view of publishing, and (we got) advice from publishers, lawyers as well".
Mandla and Machel had at the weekend expressed outrage at the book and some of its contents, with Machel threatening to sue Ramlakan for statements in the manuscript that she said constituted an ethical breach.
Mandela, who spent 27 years in prison for opposing white minority rule, became South Africa's first democratically elected president in 1994. It also focuses on the dramatic final months of Mandela's life, when he was suffering a lung infection and other ailments before dying at age 95.
Mandela and his third wife, Graca Machel.