You must use either the Serpent Suit, obtained from the Viper King´s autopsy or the R.A.G.E. Suit obtained from the Berserker Queen´s autopsy. The Icarus Armor obtained from the Archon King´s autopsy has no offensive abilities.
It is easier to perform on the Berserker Queen, due to the fact that it doesn´t dodge attacks, unlike the Viper King or the Archon King.