Visiting the NHS Royal London Hospital to mark today's International Nurses Day, Camilla was in high spirits as she met staff and patients.
One family told her their nurse had been "the guiding light in the darkest days" by providing invaluable emotional support.
The charity, founded in 1991 by Dame Felicity Dahl, widow of the children's author, provides specialist nurses and care for youngsters with some of the most complex health conditions in the UK.
Queen became The patron in 2017 and will continue in the role following the recent royal patronage review.
Speaking to nurses in the hospital's colourful healing suite, Camilla told them: "Thank you for the wonderful work you do." She then met families in the care of specialist Roald Dahl nurses and bumped into One Show host Alex Jones, who was filming the visit for the BBC programme.
Shaheda, 32, whose 16-month-old daughter has cerebral palsy, told the Queen that the nurses provide invaluable support, and revealed they were struggling to cope before they became involved with the charity.
Her Majesty told her: "It must make a huge difference to your life."
Then she smiled as Shaheda's older daughter, four, gave an impeccable curtsy.
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