You don't really "heal" them in the way sick people are healed. They will eventually get their health back through eating over time. The problem comes if they keep getting re-injured before they ARE fully healthy again. Not sure why your log doesn't show Juro being injured between those times though.
There is usually no movement in the health bar on one message I think simply because it doesn't increase by one-point increments. I think you've got to gain maybe 5 health points before the bar will move.