England head into the tournament after a strong autumn worldwide series with wins over Ireland, Italy and Wales and will open their World Cup account against Tonga on Sunday.
Full back Kearney has been battling a calf problem, while Earls has been nursing a quad muscle injury.
Leinster centre Henshaw will definitely miss Sunday's Pool A match due to his hamstring issue, but Ireland still hope he will be fit for the game against hosts Japan on September 28.
"Robbie won't make this weekend, they are very happy with his progress but he will sit out this weekend and hopefully he will be available for next week".
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"There's been a huge level of excitement, and maybe you guys have heard about a few niggles but the squad is in good health and spirits, we're just about over the jet lag now and training has been really sharp", he said. Rob and Keith ran well, and trained well.
"They're readily accessible. There are a pair of protocols that they must slip to, we must make certain we adhere as some distance as the protocols with the medical workers, nonetheless they are very delighted".
Kearney pulled up in training on Monday, which put "significant doubt" over his selection for the fixture.
Speaking at an MA500 meeting in Bath this month, Collingwood took a poll of the delegates in the room on whether or not they were going to show Rugby World Cup games this year, with the majority of operators in the room saying they would.
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Likewise, Earls is available after shaking off a thigh complaint picked up at home to Wales.
Coach Joe Schmidt will name his starting XI on Friday.
The 92-cap full-back ties Ireland's backline together and Schmidt will be keen to have his calming presence in the key pool match.
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