A Massachusetts priest has died from injuries he suffered in a collision with a driver of an SUV on Route 138 in Milton, according to Norfolk District Attorney Michael Morrissey.

Medical personnel pronounced the Rev. James B. Doran, 68, of Milton, deceased on Friday night at a Boston trauma center, where he had been taken following the crash on Wednesday, Morrissey said in a statement on Saturday.

Doran served as a member of the Oblates of the Virgin Mary at the St. Joseph Retreat House in Milton, about six miles away from where the crash unfolded at about noon on Wednesday.

The daytime incident occurred on Blue Hill Avenue, near the Blue Hills Trailside Museum, which serves as the welcome center for Blue Hills Reservation, WCVB reported. Doran was cycling at the time of the collision.

The driver of the SUV has been identified as an 85-year-old man from Hyde Park. Morrissey and Milton Police Chief John King did not disclose the name of the man, who they said was not injured.

Investigators are looking into the cause of the crash.