The way to live forever is to not die of something first. Aging is merely a combination of natural processes we're only slowly getting a firm handle on.
The primary fundamental aging mechanism that we're showing promise for is telomere shortening. Essentially, the mitochondria in our cells have DNA that slowly and steadily degrades, much like your car guzzling more and more gas to go the same distance as it ages. There is an enzyme called telomerase that repairs this damage, and it is showing promise in animal trials. If it works in humans and comes out in a pill, I'd expect lifespans to go up by about 30-40 years.
To become immune to natural causes of death, I'd say we're looking at 200 more years. Living to the age of 10,000, perhaps 100.
I don't think we can get to the point where person can live over 90 years old and has his cognitive capabilities intact and here is why:
If you hang around with old people in their 80's and 90's who are still exceptionally smart and have retained their faculties, you can still see how their cognition has changed. Brains might change only slightly after they reach their peak around 25, but we still carry the baggage of previously learned stuff. We don't have the so called "fresh eyes" anymore.
We see our current situation filtered trough our past experiences and I think this emotional and cognitive crystallization just goes on even with fully healthy brain. Using machine learning terminology, human brain can't backtrack from previously learned and their learning bias only increases. If our brains only increase their bias and specialization over time, learning stuff that is outside that field becomes more difficult and we lose the ability to adapt to big changes that will happen.