His Khan performance in the movie Wrath of Kahn came pretty late in his career, but when people first saw that movie they couldn't believe the shape the guy was in. Fact is he was quite the pumped up ultra fit dude in his time, and his body of work over his lifetime is actually pretty incredible.
http://www.imdb.com/name/nm0001544/
Not sure if Family Guy being his last work entry is much of a closing accent on it, but 167 entries dating back to 1942 is quite amazing by any actor's standards. Basically the guy was a machine. Theatre, big budget movies, musicals, tv series, comedy, drama, action... the guy did it all.
RIP Mr Roarke.
Boss, de plain! De PLAIN!!