I think you can write a workflow on the Queue Item entity, trigger when the
Worked by changes, check if it contains data(assigned to some user), update the queue item by clearing the queue field.
I have actually tested the OOB functionality by assigning it to my self(select the queue item, click on pick), you have an option to "Also remove the item from queue". if you select this, it is deleting the queue item as well.
Hope this helps.
Regards Jeevan Please vote for me if you find the answer is useful.