France’s National Assembly has voted to create a right to assisted dying under strict conditions, after years of debate and changes to the proposals.

MPs voted by 291 to 241 to back the bill, which had been rejected three times by the upper house of parliament, the Senate.

Prime Minister Sébastien Lecornu is set to refer parts of the bill to France’s Constitutional Council for examination before it can become law.

It would allow assisted dying for French adults with a “serious and incurable” life-threatening illness “in an advanced or terminal stage”. The illness would need to leave them in constant physical or psychological suffering that is unbearable or resistant to treatment.

The patient would need to “freely manifest his or her intention” to a doctor, who would then make a decision after consultation within 15 days.

After two days of reflection, the patient would have to administer a lethal substance themselves. If they were unable to do so, it could be done by a doctor or nurse.

The patient’s decision to go ahead with the procedure would have to be verified by the physician on the day.

Wednesday’s vote means France could join several other European countries that have decriminalised assisted dying in some form.

A similarly lengthy debate has been taking place in the UK. A bill to legalise assisted dying in England and Wales stalled earlier this year and is set to return to Parliament in September.

The Netherlands and Belgium legalised assisted dying in 2002 for people with unbearable suffering from incurable illness, allowing it to be administered by a physician.

Several other European countries have since passed legislation, and Switzerland has long allowed assisted suicide if the person assisting acts unselfishly.