Ban lorries from London during the rush!
It seems very likely to me that the majority of lorry/cycle collisions occur during the morning and evening rush (commute).
It seems rather obvious to me that banning lorries during these times would greatly improve this situation.
I think it would be relatively trivial to implement and enforce.
Lorries making deliveries or travelling to construction sites with supplies can be scheduled to avoid travelling in London during the rush. Exceptions could be granted for the rare times when this was a significant real imposition.