One solution for this already exists: P2Pool. From the wiki page, "P2Pool is a decentralized Bitcoin mining pool that works by creating a peer-to-peer network of miner nodes." The key thing is that since it's p2p, there's no owner of the network who can use it to perform a 51% attack.
P2Pool is not perfect, but it works and it shows that decentralized pools mining are possible. With some improvement, it (or something like it) could be a replacement for all centralized mining pools.
You obviously haven't clicked on the link. P2Pool requires too many resources (a full-node). Whereas most of current mining, ran by trusted third-party pools, can even be done off of a raspberry pi, which requires much less resources.
P2Pool is not perfect, but it works and it shows that decentralized pools mining are possible. With some improvement, it (or something like it) could be a replacement for all centralized mining pools.
https://en.bitcoin.it/wiki/P2Pool