(Reuters) - Jazz pianist Dave Brubeck, whose choice of novel rhythms, classical structures and brilliant sidemen made him a towering figure in modern jazz, has died at the age of 91, his longtime manager and producer Russell Gloyd said on Wednesday. Brubeck died of heart failure on Wednesday morning after he fell ill on his way to a regular medical exam at Norwalk Hospital, in Norwalk, Conn., a day short of his 92nd birthday, Gloyd said. His Dave Brubeck Quartet put out one of the best selling jazz songs of all time: "Take Five," composed by alto saxophonist Paul Desmond....