I have read about these ventures. Under the Obama administration, it was decided that some services would be better performed by private business ventures, so NASA contracted work out to these ventures.
The Space Shuttle program had reusable rockets - the sold rocket boosters on either side of the external tank were recovered at sea and reused. So, SpaceX is improving on what has been done before.
According to Air & Space Magazine (March 2015), NASA has identified 32 major risks to human health and performance.
One of these risks is radiation poisoning. When the astronauts were at the moon, they reported light flashes. These light flashes were the result of cosmic ray radiation. Cosmic ray radiation has the potential to be fatal to an astronaut.
Health threat from cosmic rays
"Nobody understands the physiological cost of the mission. You have workload creep, inadequate sleep, confinement, and isolation. But you have also nutrition issues, low oxygen, high CO2, bone and muscle atrophy." And then there are the "more occult issues" like fluid shift to the brain. (A&S, March 2015, Pg. 59)
What is SpaceX doing to improve the chances of humans surviving on a mission to Mars? Every two years, there is a window to Mars. The astronauts leave in this window. They spend two years on this world until the next window appears. NASA/Roscosmos are planning a joint mission that will last 504 days at the ISS - this is the longest that any human has lived outside the planet. We haven't had missions longer than this.
To me, the push for Mars is a marketing ploy to get investors and contractors on board. It has that allure that the Moon doesn't. However, after forty years of living on this planet, I don't see us any closer to Mars than the day I was born.
As for the Orion, it will be attached to a Deep Space Habitat. With the DSH, the ship will have the capacity for a 500 day mission. There is no lander in the design. If this goes from concept to construction, the Orion will be installed with this thing and will be sent to Mars for a quick visit. This is Apollo 8, only this time the target is Mars and with one extra crew member.
Deep Space Habitat