It's a tricky situation.
Modern medical drugs are expensive, because the research that goes into finding them is expensive. Most drugs cost a fortune just to discover, then you have to test on tissue cultures, animals, then finally humans. You usually need to do three clinical trials at least. Depending on the type of disease the drug is designed to treat, patient availability and test subjects that have an ideal case to test on, clinical trials can take anywhere from 5 to 15 years. There are drugs being put on the market now that were discovered in the Early 90's - THAT'S how long it takes. And of course, these tests cost hundreds of millions, if not billions of dollars. And if the drug doesn't pass the trials, all that money is for nothing. Also, if during testing, another competitor releases a better drug that treats the same disease, again, all that money is down the drain.
So that's why Drug Companies have to charge a lot - because modern medical R&D is incredibly, INCREDIBLY expensive. The government's not gonna foot the bill for the research, so who will? The medical drug business is extremely risky, extremely expensive and extremely dangerous (in terms of legal liability). If people put money into a company for research, don't they deserve some of that money back? Don't drug-company share-holders deserve money? Sure, the drug might be manufactured cheaply - but you don't hear about the MASSIVE COST (often 1 Billion USD +) and risk that went into researching and developing the drug and getting it past FDA and TGA tests.
But then again, I don't think there's a single person here who wouldn't steal the drug if they knew it could save a loved one. If he paid all he could, he should be given the drug. No one, NO ONE deserves to die because they are poor. Morally I would say that as long as he tried to pay for it legally, he is in the clear with resorting to stealing it. Legally, of course, he would be in the wrong - but the law isn't always on the side of justice.
I'm glad I live in a country where our government will usually step in and help the poor get the medical treatment they need (I live in Australia - a nation that has, as perplexing as it might sound to you Americans, public healthcare for the poor AND democracy and Liberty and all that jazz. Instead of spending tax payer money on building more and more deadly weapons for who knows what purpose, we spend our tax money on helping the sick. What do you think is the right choice?)