ENGLEWOOD, Colo. — Tackle Jared Veldheer (knee), safety Darian Stewart (neck), wide receiver DaeSean Hamilton (knee) and running back Royce Freeman (ankle) have been ruled out for Sunday's game in Kansas City, Head Coach Vance Joseph announced Friday.

Outside linebacker Von Miller (ankle), guard/center Nico Falah (concussion) and linebacker Brandon Marshall (knee) are listed as questionable.

"It's not serious," Joseph said of Miller's injury. "He will go."

Outside linebacker Shane Ray (ankle/wrist) is doubtful to play Sunday.

Joseph said Stewart was unable to play after suffering three stingers in consecutive weeks.

"Our concern is always the player's future safety and his health," Joseph said. "He can't go this week."

Without Stewart, the Broncos will rely more heavily on safeties Will Parks, Dymonte Thomas and Shamarko Thomas.

Parks is expected to start, and Joseph said he thinks the third-year player is well-suited for this week's matchup.

"Will's played a lot of football here," Joseph said. "He's got some experience. ... His skill set for this game is really going to help us, because he can really run and play the ball, and he can cover tight ends. Obviously he's been our dime, so now on base downs, he'll be one of the high safeties. I think his skill set fits this game plan."

Joseph also provided an update on Su'a Cravens, who is eligible to return from injured reserve in Week 9 against the Texans. Cravens has practiced consistently over the last two weeks.

"He's had two good weeks," Joseph said. "He can obviously play against Houston, so we'll see. And having 'Stew' down [this week] and not [being] sure about 'Stew,' having him back is going to be huge for us. Even with dime — with 'B-Marsh' going in and out of the lineup — he's going to be huge for us [to have] him back."