Medical assistance qualification question...?

My parents (ages 67 & 62) are currently struggling financially. My father was a plumber until his heart issues became more severe about 5 years ago. My mother is a school bus driver and is still working. While my father worked, they had health insurance, but since he was forced to stop working due to health, they haven't had health coverage outside my father's Veterans Affairs benefits. Fortunately my mother has been in pretty good health since affordable care and affording basic life needs at a bus drivers wages is not realistic. Over the years, they managed to put money into retirement funds (believe this to be ~$70-80K from discussions with them), so probably not really enough to live off of, but at least it helps.

So recently, my mother fell and has multiple fractures on one of her toes. Without coverage, this is going to be more expensive than what their budget can cover. Looking at the Pennsylvania Medical Assistance eligibility guidelines, it looks like they are required to spend their retirement savings before any assistance would be available. According to my mother, if she withdrawals any of the money at this time, she'll have penalties for taking it early. I thought with my father hitting 67 that he'd be able to withdrawal, but maybe they do it on the age of both my mother and father? Does it make sense to spend everything they have now so that they are forced to apply for assistance later? While my siblings and I can help for this specific injury, I would like to know if there are health options that wouldn't deplete their retirement funds and leave them completely broke as they get older.