The Gatehouse website record for Healy, near Eccleshall

In the historic county of Staffordshire (Modern Authority of Staffordshire, 1974 county of Staffordshire).

Nothing known of castle reported by Moore. King footnotes "The strong suspicion that this is the same as Heighley is somewhat abated by the fact that the latter is listed separately; it is also nowhere near Eccleshall." In fact Eccleshall is not that distant from Heighley and has a direct road connection to it. William Camden's Britannia mentions 'Healy' castle (Clearly the Audley castle of Heighley) as near the source of the River Sow and then goes on to trace the line of the river fairly directly to Eccleshall. Moore must have used Camden as a source and a relative quick reading could easily result in the description 'Healy, near Eccleshall', presumably Moore got Heighley from another source and didn't make the association.
Ad hoc in ortum Trenta cursu deflectit, et ab austro Canoc sylvam, vulgo Cankwod, longe lateque diffusam habet, demumque Sow flumen sinistra ripa suscipit, qui emergit iuxta Healy castrum a baronibus de Aldeleg sive Awdley extructum, quibus Hervaeus de Stafford locum donavit, ut Theobaldus de Verdon ipsum Adelegh, et a quibus familia Stanleiorum comitum Derbiae, sed haereditas et nomen ad Touchettos descendit, in quorum sobole et nomine illa dignitas adhuc elucet. Nec silentio hic praetereundae sunt aedes Gerards Bromley dictae tum ob magnificentiam, tum quod sit sedes praecipua Thomae Gerard quem baronem Gerard de Gerards Bromly primo regni sui anno rex Iacobus creavit.
Sow iste Trentae quasi parallelus aequali distantia fluit per Chebsey, quae suos olim dominos Hastingos habuit, nec procul ab Eccleshall habitatione episcopi Lichfeldensis
Can be rejected as a different castle from Heighley.

Sources of information, references and further reading

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