Family members rushed to be with Queen Elizabeth after doctors said they were concerned about the health of Britain's 96-year-old monarch on Thursday and said she should remain under medical supervision.

The queen, Britain's longest-reigning sovereign and the world's oldest monarch, has been suffering from what Buckingham Palace has called "episodic mobility problems" since the end of last year.

"Following further evaluation this morning, The Queen's doctors are concerned for Her Majesty's health and have recommended she remain under medical supervision," the palace said in a statement.