A bill aiming to legalise assisted dying has passed a legislative hurdle in the Dáil and will now proceed to detailed scrutiny.

TDs voted in favour of the Dying with Dignity Bill by 81-71 and it will now continue to the committee stage.

A Government motion to set up a special committee to examine the bill for 12 months was defeated.

The bill has been sponsored by Solidarity-PBP TD Gino Kenny.

Cabinet ministers backed the Government motion, but all other TDs in the three coalition parties had a conscience vote.

When the Government motion was defeated, all TDs in Fianna Fáil, Fine Gael and the Green Party had a free vote on the bill itself.

All 12 Green TDs supported it at that stage, along with four Fianna Fáil deputies and ten Fine Gael members.

Fianna Fáil TD for Kildare North, James Lawless, was one of those who supported the bill after the Government motion was defeated.

Sinn Féin, Labour and the Social Democrats all voted for the bill to proceed.

Seven Cabinet ministers including the Tánaiste and the Minister for Health voted in favour of the Dying with Dignity Bill proceeding to committee stage, after the Government motion was defeated.

They are Leo Varadkar, Helen McEntee, Simon Harris, Stephen Donnelly, Eamon Ryan, Catherine Martin and Roderic O'Gorman.

Cabinet ministers were bound to support the motion initially but when that failed they also had a free vote along with all other Government TDs.

Ten Fine Gael TDs supported the Bill at that stage - Jennifer Carroll MacNeill, Ciarán Cannon, Bernard Durkan, Alan Farrell, Brendan Griffin, Simon Harris, Emer Higgins, Helen McEntee, Eoghan Murphy and Leo Varadkar.

Four Fianna Fáil TDs also voted for the Bill to proceed - Thomas Byrne, Stephen Donnelly, James Lawless and Paul McAuliffe.