Would Piccolo's original plan to save Goku from #19 have worked?

[GreatSaiyanman]

Let's pretend Vegeta never showed up to save Goku. Although we can't really say for sure what Piccolo's plan was, I think it's safe to assume it involved him taking advantage of his "defeat" to slip past Gero and knock #19 off of Goku. Would this plan have worked? Or would Gero have been able to stop him?

 

[Captain Cadaver]

Considering how easily Piccolo manhandled a stronger version of Gero, I'd say it would definitely work, especially with #19 being off-guard and Gero not expecting Piccolo to instantly spring up.

 

[Let's Go Fearless!]

Same above, Piccolo can handle #19 and #20 no problem so his plan would definitely work.