"As a now-still Madiba lay, with his hand in hers, in the soft glow of the beside lamp, all of us experienced a sorrow the depths of which we had not experienced before," he wrote.
The book includes an account of a close medical call six months before Mandela died, when the engine blew in an ambulance carrying him to the hospital, and how later, after his death, a "spy camera" was found in the mortuary.
Members of the Mandela family objected to the book's publication, saying it breached doctor-patient confidentiality.
Machel, Mandela's widow, called it an "affront to and an assault on the trust and dignity of my late husband" and said she was considering legal action, according to a statement cited in South African media.
The book's publisher, Penguin Random House South Africa, said yesterday that it would withdraw the book.
Ramlakan has said the family requested him to write the book and that "all parties who needed to be consulted were consulted".