Mickey Brady of Sinn Fein spoke about the experience of children with muscular dystrophy moving from school to community care, which he said was "sadly lacking", on 5 November 2012.
Mr Brady said young people with a disability would be particularly impacted under the terms of the Welfare Reform Bill.
"Do not let this happen," he said.
The DUP's Alex Easton said provision for the 2,000 sufferers in Northern Ireland lagged behind other areas in the UK.
He drew attention to the problem of "diagnosis over the phone" whereby parents have been told their child has a life-limiting condition over the telephone.
Sam Gardiner of the UUP said the debate was not about increasing spending but "about better and more effective use of the existing resources".
Replying to the debate, the Health Minister said the McCollum Report had provided much food for thought.
Edwin Poots said the department took the issues raised in the report "very, very seriously ".
The minister indicated a number of recommendations that could be implemented as soon as possible.
A neurological conditions advisory group would be set up by the Health and Social Care Board.
The HSC Board would consider providing information for GPs and provide training for them.
Mr Poots acknowledged that there were problems in accessing specialist wheelchairs.
He said he was not happy that people were having to wait as long as 32 weeks.
The minister said a second bio-engineer was being trained.
The motion was passed on an oral vote.
The first part of the debate can be viewed