I like the chest armor Exotics so I don't have the "Replenish health when you pick up orbs of light" instead I use Voidwalker's melee and kill a thrall for health. Or Hungering Blade with the Bladedancer Super Charge, go invisible, knife one thrall and get my health back. Plus I'm Swordbearer, so I receive the least damage. And I've done the raid without any Titans on hard, although the boomers might get 1-2 shots off you, nothing dangerous or serious happens, it's still easy as long as one person gets their agro and keeps them distracted.