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No, you need at least a Stone pickaxe, to mine the Iron Ore.
Go into Google and type in minecraftwiki.com and then click on the link, then go to the search bar in Minecraft Wiki and type in pickaxe.
If you can find a village, steal wood from them, break it into sticks, and create a wooden pickaxe. Then, once you have enough stone, make a stone pickaxe.
There is no such thing as an emerald pickaxe in Minecraft.
The efficiency of a pickaxe in minecraft is the speed at which the pickaxe can mine materials.