I think it's worth noting that while this may be true if you're dead, it's not the case when you're still alive.[1]
Filial responsibility laws mean that adult children can be legally required to pay their impoverished parents' medical bills. The above cites a case where a man was required by the courts to pay $93,000 for his mother's rehabilitation.[2] From what I've read, Pennsylvania may be particularly onerous compared to other states, but it's not a slam dunk kids won't be on the hook.
[1]: https://en.wikipedia.org/wiki/Filial_responsibility_laws
[2]: https://abcnews.go.com/Business/pennsylvania-son-stuck-moms-...