Yes, an accident may still be work-related even if your employee was not injured when performing work duties. For example, if your employee leaves work duties to go to the restroom or to the pantry to get a drink, and slips and falls along the way. These are incidental to work.
Such accidents are considered work-related unless there are some extraordinary circumstances or factors. For example, if on the way to the restroom, your employee engages in horseplay with colleagues and falls.