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In this work, a Mixed Reality (MR) system is evaluated to assess whether it can be efficiently used in teleoperation tasks that require an accurate control of the robot end-effector. The robot and its local environment are captured using multiple RGB-D cameras, and a remote user controls the robot arm motion through Virtual Reality (VR) controllers. The captured data is streamed through the network and reconstructed in 3D, allowing the remote user to monitor the state of execution in real time through a VR headset. We compared our method with two other interfaces: i) teleoperation in pure VR, with the robot model rendered with the real joint states, and ii) teleoperation in MR, with the rendered model of the robot superimposed on the actual point cloud data. Preliminary results indicate that the virtual robot visualization is better than the pure point cloud for accurate teleoperation of a robot arm.