I doubt if Zoro's Asura will get through. We just know the basics of Kuma's fruit right now and even Sanji kicking him did nothing. What we know is that it rejects things. So an attack directly on Kuma will be rejected. If a direct attack to the face by Sanji does nothing, then we know that Kuma has even more up his sleeve.
So lets say that Kuma did not see which sword to halt, rejecting everything in front of him will, and a direct attack doesn't seem to have much of an effect. And lets say that if even that isn't the case Kuma could just disappear before your eyes as he has done before. Leaving Zoro very open for an attack to the back.
It's too early to tell the specifics of Kuma but at this point, Zoro fighting Kuma doesn't matter anymore because everyone just got blown up or saved somehow.