Minimally invasive percutaneous surgery (MIPS) enables access to internal organs through needle punctures, providing reduced invasiveness and faster recovery compared to open surgery. While tele-operated robotic systems offer several advantages in MIPS, such as improved accuracy and reduced surgeon exposure to radiation, current approaches lack the ability to re-plan the needle path in real-time during surgery. This work introduces a novel tele-operated control strategy for robot-aided MIPS, aiming at improving patient safety, procedural efficiency, and system usability. The approach integrates a position control for access point re-planning and a parallel position/velocity control for needle advancement. Six participants tested the proposed control strategy using the KUKA LWR 4+ robotic arm to perform nephrolithotripsy on a synthetic anatomical model. The system demonstrated high needle alignment accuracy ( \(max \ DNA = 0.006 \pm 0.003 \ [\text {rad}]\) ), smooth motion control ( \(SM = 0.13 \pm 0.08\) ), and good usability, as reflected by a NASA-TLX workload score of \(38.16 \pm 5.93\) .