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Bret Michaels and his longtime girlfriend Kristi Gibson have called off their engagement and separated.

"Bret Michaels and longtime girlfriend Kristi Gibson have called off their engagement at this time," the rocker's rep told ET in a statement. "Although the couple have separated, they remain great friends and are committed to jointly raising their two daughters Raine Elizabeth and Jorja Bleu."

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Michaels proposed to Kristi -- his girlfriend of 16 years -- during the finale episode of his reality show Bret Michaels: Life As I Know It, which aired in December 2010.

Michael had a major health scare in April 2010 when he suffered a massive subarachnoid hemorrhage that left him in critical condition. 

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The Poison singer later filed a lawsuit against organizers of the Tony Awards over a head injury suffered during a performance on the show that he blamed for causing the brain hemorrhage. 

Tony Awards organizers denied wrongdoing in the incident, but eventually settled with Michaels after reaching an agreement for an undisclosed amount. 

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