Calling it "an exceptional case", Judge Peter Kelson QC jailed David Rooke for six-and-a-half years, his son Jamie Rooke for four years and wife Donna Rooke for four months.
Judge Kelson also called it "a wake up call".
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Four men were allegedly assaulted in a series of incidents
The 77-year-old died in hospital after the incident on Thursday. The driver of the car is helping police with their enquiries.
The incident in Kirton in Lindsey is the latest in a series of similar raids