Mention a swashbuckling, sexually ambiguous hero called Captain Jack, and the first thing on people's minds will probably be Johnny Depp in Pirates of the Caribbean. But as of Sunday night, when the new Doctor Who television spinoff Torchwood premiered in the UK, Depp's eyelinered rogue has a rival in the swashbuckling stakes. And not only is this rival overtly bisexual, but he is played by an openly gay actor.

Captain Jack Harkness, played by John Barrowman, made his first television appearance in episode 1:9 of the BBC's new Doctor Who, back in 2005. A time-travelling, intergalactic con man from the 51st century, he got tangled up in the adventures of the Doctor. In the beginning, he was also seen romancing the Doctor's pretty companion, Rose. But over the course of the next five episodes, it became apparent that he was interested in men as well - perhaps even including the Doctor himself.

The new series of Doctor Who was helmed by Russell T. Davies, creator of the original UK Queer As Folk. Being a family show, Who's treatment of Jack's bisexuality didn't have anything like QAF's degree of raunch. But in a sense, it broke new ground by not treating Jack's bisexuality as something that had to be explicit or adult. Jack indulged in PG-level banter with men and women, and was teased by the Doctor for being a flirt.

When he kissed the Doctor on the lips in the first season's final episode (after having just kissed Rose likewise), it was as an expression of affection and concern, rather than a come-on. The show's low-key, matter-of-fact attitude to Jack's bisexuality was summed up when the Doctor addressed Rose on Jack's choice of dancing partners: “He's a 51st century guy. He's just a bit more flexible when it comes to dancing.”

Fuller development of Jack's character and sexuality was constrained, not only by the fact that Who was a family show, but also by the fact that he was basically a third wheel to the Doctor and Rose. They were the main characters, and the main romantic attraction of the series was between them. Jack, fun as he was, could not be allowed to interrupt their central relationship.

But the character, with his charm, openness and good looks, had gained huge popularity with viewers. And so in the final episode of the first series, he was accidentally deserted by the Doctor and Rose, who believed that he had been killed in a battle with the Daleks. This opened the door for a spinoff show, Torchwood, where Jack would be the main character. Russell T. Davies had been wanting to make a more adult, post-watershed, Buffy and Angel-inspired sci fi show - and this was the perfect opportunity.

Torchwood premiered on Sunday night with a double bill. Each episode is 50 minutes long, and there will be thirteen of them in the first series. The show is set in contemporary Cardiff, in Wales, and revolves around the Torchwood team: five people charged by the British government to secretly investigate and fight alien crime. Jack is the leader.

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