He is partially right - the lack of extreme-expense health care drives out extreme high-end solutions such as the article's highlighted "Luke" arm, a prosthetic that is almost as good as the real thing.
But really, what do we want as a society? For a two-digit number of extremely wealthy people to have access to the world's best prosthetics, stuff that is in the realm of sci-fi? Or for everyone to have access to "good enough" prosthetic technology that advances more slowly?
"if talented people are given resources they're going to keep driving us to having better, simpler, cheaper solutions to problems"
Absolutely false, and proven by his own highest-profile project; the Segway hasn't gotten significantly cheaper or more accessible despite years of R&D, and is unlikely to become affordable anytime soon. This man's own business is a textbook case of the lie behind this claim. In order for solutions to get cheaper there must be market pressure to reduce cost: this is something that doesn't exist in America's current health care system.
Health care providers don't care about cost - it's passed along to insurance companies and consumers anyway. Insurance companies care about cost, but not really - it's easily passed to sponsoring employers or individual buyers anyway. Really, the only people that truly want cost reduced are the endpoint patients and their employers, who generally lack the clout and influence to push for real cost reductions. The entire system is broken. Costs have not lowered for health care, and will not lower, until the system is reorganized such that cost reduction becomes advantageous to all stakeholders.
He does make a cogent point in the end: more R&D will lead to better solutions and lower costs (given the right structure and incentives). But this argument is really independent of the affordability issue that plagues America today. Where I come from (Canada) we do a huge amount of pharmaceutical research (in fact, we invented the insulin injection) on government funds. I personally know very talented people working every day on cancer research.
Yet we can still afford to give everyone health care. Imagine that. A person can still get a major disease without going broke. Imagine that.
I really do think Dean Kamen is conflating two unrelated issues. The lack of R&D funding is an issue, but increasing R&D need not come from the pockets of consumers. Just look at the existing private system - a third of every health care dollar spent is just on administrative costs. Imagine if we took this money and threw it into R&D.