You make the bold claim that the poor can not benefit from the system of capitalism, and that only the rich can benefit from such a sytem. I beleive this to be absolutely untrue. In fact, everybody benefits from any true system of capitalism- just in different ways. While the rich may enjoy luxuries, so do the poor. In all of the countries I can think of that have at least had some extended period of capitalism (and still have some capitalism left) the poor are afforded great luxuries that the rich of previous years might not even have had. Microwaves, TV's, VCRs, vehicles. The poor are no longer living on the farm worrying about them dying next winter, or understanding that their child will more than likely not live into adulthood, they are in apartments, living quite well than they ever had before.
You could say that just because the poor do not live in mansions, their lives are not valued. In fact, it's a very emotional argument rather than a logical one- which reminds me of a lot of what Marxian rhetoric is- appeals to emotion rather than reason. The poor do have the ability to better themselves and an ideal form of capitalist healthcare allows the poor to provide for their own care if they need to.

The change you speak of comes not through change of a system but through a combination of exchange through trade, and scientific innovation.