Maybe. Limiting risky behaviors and activities. Maintaining strength and joint range of motion. Being very careful in everything you do. Only doing things you're 100% prepared for and 100% sure are safe and doable. Never spontaneously taking part in a sport or adventure. That might be the injury free life, but that isn't the life I'd want to live.
The moments in life where I feel the most alive and that I remember fondly are often big adventures where I've really pushed myself to the edge and challenged both my physical body and mind. Those adventures where you're not really sure whether you'll be able to complete it and often where there's some risk involved.