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For the 2nd one:
There Are prothesis and bionics in the game. You can research them, build them and then use the operation-option to put them on them. Wooden Prothesis are worse than the normal one, the normal ones basicly work like a normal arm/leg, bionics work better than normal limbs.
That also fixes the pain-issue and after that they shouldn´t be braindead anymore.
Brain injuries are tricky. Fortunately, there are a few ways.
1: Healer mech serum. This is a rare quest reward which can heal any wound. It's not something you can count on, but rather something you have to look out for.
2: Biosculptor pods, if you have the Ideology DLC. This requires research and Glitterworld medicine, but you can heal almost any injury.
3: Luciferium. This drug will gradually heal permanent injuries and provide additional perks, but is a permanent commitment, as failure to keep the addicted colonist regularly dosed will lead to psychosis and eventually, death.
Regarding arms and legs - early/mid game, you can click on a colonist, go to "health" and then "operations" and queue things like peglegs, wooden hands, etc. Note this requires medicine.
Soon after, you can research and produce prostetics, which are a bit better than wooden replacements. Mid/late game, you can research and produce (or buy) bionic replacements, which are BETTER than natural bodyparts.
2) You can craft prosthetic limbs or bionic limbs, or buy them from traders some times. Once you have them, go to the Health tab of the pawn and add a bill for an Operation to [Install Prosthetic Arm] (left arm) or whatever is missing.
Deathrest will heal most scars fast, but won't restore lost parts.
Luci's not that hard to manage in my experience but it takes a certain commitment to micro. I've only had two pawns die to it out of maybe 50-75 that have been on it. Make sure they carry a stack of it in their inventory (under the assign drugs tab) and buy it regularly to keep a large supply.
Some tips, with the caveat that I usually play with the world population one step up (more crowded) from the default and trade constantly and still need to raid ancient dangers some times:
1. Do regular checks on your pawns to make sure they have the right amount in their inventory, especially if you've been drafting or force-working them a lot.
2. Keep as large a supply as you can and if possible have the non-luci pawns carry 1 in the inventory for emergencies, like when some bozo goes caravanning without any.
3. Keep your main stash in two separate locations.