Its not Mr. Martin's "take" on prologues, it how prologues work. Most of the confusion on the need or lack of need for a prologue comes from people not understanding what a prologue is and how it fits into the structure of a novel. In short, most prologues derive from an author feeling the reader "must know" some element of backstory or infodump. Other prologues derive from the author's belief that worldbuilding must occur prior to the story beginning. Both beliefs are in error.
If one understands the purpose of a prologue and how it fits into novel structure, then one never has to worry about the necessity or placement of a prologue. Here are four (very basic) guidelines on what a prologue must accomplish (We'll apply these to Martin's "take" on prologues so you can see why it works in his case):
1. The prologue should always be an integral part of the novel, written in the same spirit and style. Otherwise it's a personal preface rather than an opening chapter. The prologue, aside from slight POV change, is very much in keeping with the style and spirit of the entire series.
2. The prologue should read like a short story in every aspect, except for its ending. Rather than resolving all conflict, the end should leave the reader intrigued. Any conflict created in the prologue, however, must be resolved somewhere along the plot. Check 2. Martin could publish his entire prologue as a self-encapsulated short story, aside from the open-ended conclusion.
3. The prologue should start with a strong and intriguing hook as if it were the only beginning of the novel. This does not exempt Chapter One from beginning with an equally strong and intriguing hook. Check on both accounts.
4. The prologue must stand out from the body of the novel in at least one fashion: the time of the events (which should be stated both in the prologue and in the first chapter), the POV character, and so on. The reader should feel a distinct switch in his mind when he begins reading Chapter One. And just as important, he should never experience the same switch again within the novel. For example, if the difference between the prologue and Chapter One is an interval of five years, you may not fast-forward time again within the novel. Again, check. Aside from the previously mentioned change in POV, Martin uses what amounts to throw away characters in the prologue scene. One survives, but is executed in Chapter 1. But, the prologue does introduce the series primary antagonists. Why do they need a prologue? Because A Song of Ice and Fire is filled with antagonists and plot lines, and it is important to ground the reader onto the primary one. They are the big baddie always looming over the horizon no matter what else happens in the course of the story.
It is quite possible that your prologue is needed for your story. Only you, the author, can make that decision. But when making that decision, it is important that you understand prologues, what they accomplish, and what they are used for.
You'll notice in none of those four points do the words backstory, plot introduction, worldbuild, or setup to avoid reader confusion appear.