HIV has been cured for Simian monkeys for quite a while because we could invasively experiment on them; so, the FDA stopping us from invasively experimenting (including involuntary innoculation of disease free subjects) on humans may have "statistically" cost more lives than it saved, but you'd have to be a Nazi to advocate it.
That is not the thesis of Peltzman's book. Peltzman compares pharmaceutical innovation before the 1962 FDA amendments with after in the US, not with nazi germany.