NEW YORK — Dr. Ruth Westheimer, the diminutive sex therapist who became a pop icon, media star and best-selling author through her frank talk about once-taboo bedroom topics, has died. She was 96. Westheimer died on Friday at her home in New York City, surrounded by her family, according to publicist and friend Pierre Lehu. [time-brightcove not-tgx=”true”] Westheimer never advocated risky sexual behavior.