For people with low incomes, there are several programs that help defray the costs of doctor care and medications.
1) Medicaid. Medicaid, in its basic form, is a program for people who cannot afford to pay for medical care. The income limits vary from state to state as do the limits on resources. If your income level is deemed to be too high, you can choose to give the government the excess income in what is known as a "Medicaid spend-down." There are also trusts available which may be more affordable than giving money back to the government.
2) Extra Help. For those whose income is too high to qualify for Medicaid, the next level of assistance is Extra Help. Please go to the Very Helpful Links section and click on the link for Extra Help to see if you qualify.
3) State Prescription Drug Assistance. For those whose income limits are too high to qualify for the above plans, this is the last fallback. State assistance varies, but here in NY, there's an incredible program called EPIC. The income limits to qualify for this program are $75,000 for a single person and $100,000 for a married couple. Based on your income level, you would pay either a low monthly premium or, for higher earners, a deductible, but after that the most one would pay for a month's supply of prescription would be $20! Please go to the EPIC website here for an application as well as costs based on income limits.