Don't forget you can pause the game and use a medkit from your inventory. Its doesn't take up a round of combat that way. As WF said, use destroy droid on the captive jedi or drain life.
Throw lightsaber and Force lightning also work, which is why I mentioned them.
The good thing is that, by that point in the game, you have lots and lots of energy shields, stims and medpacks left over (generally, anyway, unless you squander them).
