There's no single institution or person holding us back. Real life isn't a movie with a villain who can be defeated and then we live happily ever after. There's no magic HealthBot 3000 technology that will deliver a breakthrough in curing disease and injury, and/or disrupt current business models.
Hospitals don't want to lose revenue. Physicians who don't want to lose revenue and turf. Drugmakers don't want to lose revenue. Health insurance. Patients refuse to opt into* any limits on care, demand nearly perfectly safe drugs, and say they only want the best care. We want to see our doctor over a cold and demand a pharmaceutical solution. We get annoyed when doc tells us to lose weight or quit smoking/drinking. We cannot accept death or taxes. "We have met the enemy and he is us." - Walt Kelly. The only deflationary force in the industry is have nots avoiding care at significant cost to life and limb.
*Even relatively comfortable employer plans and Medicare have significant gatekeeping: "out of network," deductibles, what procedures and drugs are not covered.