There is a charm (badge) that you get for rescuing enough green grubs that gives you soul for taking damage.

Pair that with the Quick Focus charm (Which makes your charge to heal shorter) and some of the fights become MUCH easier as you can heal more frequently 

If you mean the non boss things in Soul Sanctum? Till I upgraded the nail a second time, I usually just ran past em.

This nails cyberpunk on the head