WASHINGTON — Medicare said Friday it will pay doctors to help patients plan what kind of care they want at the end of life – an idea more broadly accepted than six years ago, when it touched off a political uproar about “death panels.”

The policy change was urged by numerous physician and health groups. Some doctors provide this “advance care planning” to their patients without getting paid for the counseling time, and some private insurers already reimburse for it.

But the Obama administration’s policy change could make the talks more common among about 55 million Medicare beneficiaries.

The rule, proposed last summer and finalized Friday as part of broader doctor-payment regulations, takes effect Jan. 1. The counseling is entirely voluntary, and could take place during seniors’ annual wellness visit, or during regular office visits.

“As a physician and a son, I personally know how important these discussions are for patients and families,” Dr. Patrick Conway, Medicare’s chief medical officer, said in an interview. “We believe patients and families deserve the opportunity to discuss these issues with their physician and care team.”

Most Americans say they’d prefer to die at home, with treatment to free them from pain. But the landmark “Dying in America” report from the Institute of Medicine found the reality too often is unwanted invasive care and not enough comfort, in part because too few people make their wishes known to doctors and loved ones.

The movement toward what’s called advance care planning also reflects that this isn’t just an issue for people who already are seriously ill, but a process that may prompt different decisions at different stages of life. Involving a doctor in those decisions can help people fully understand their options.

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