Praise be to Allah.
The basic principle is that that which is harmful to the individual is prohibited, because Allah, may He be Exalted, says:
{And do not kill yourselves.} [An-Nisa’ 4:29]
{and do not throw [yourselves] with your [own] hands into destruction [by refraining]. And do good; indeed, Allah loves the doers of good.} [Al-Baqarah 2:195]
The Prophet (blessings and peace of Allah be upon him) said: “There should be neither harming nor reciprocating harm.” (Narrated by Ahmad and Ibn Majah, 2341; classed as authentic by Al-Albani in Sahih Ibn Majah)
If inhaling the smoke of these herbs is harmful, then it is prohibited to consume it. If it is not harmful – rather it is of medicinal benefit, as you said – then there is nothing wrong with it, because the basic principle is that things are permissible.
You should consult specialists who have knowledge of the hoped-for benefit and can determine whether that can be achieved by burning these herbs or not.
For more details, please see the following answers: 256355, 115761, 127312, 271543, 10922, 201512, 11956.
And Allah knows best.
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