Many minerals that are quite essential are used by other organisms so we get it that way, but that doesn't mean we have to. A good example is iron. Rust isn't a bioavailable form of iron compared to what you'd get from plants and animals, but you could eat rust and make some of the iron in it ferric chloride that you could then use for making hemoglobin. It's just not very efficient. What you can't do is get energy from inorganic molecules. We can only get energy from things on the citric acid cycle(or are made up of components of it), alcohols, sugars, fats, and proteins.