Doubt it, would also make it a bit too easy since it wouldn't limit your healing supplies that much.
I certainly don't know of any, but what trouble do you have with bots grabbing them? You can give them commands to pick them up, and when you command a bot to pick up a tome, they'll never drop it for a healing item unless you tell them to pick up a healing item.

To make a bot pick up something, be close to the item, look at it and hold T to open up the dialogue wheel.
You can force a bot to drop a grimoire by either telling them to pick up a potion, or being close to the bot, look at him and hold T.