For us YES, but it was easier for us than it might be for you guys because Mark and I were married so they couldn't account for his parents income.
First step is to submit a FASFA, which takes a few weeks to process. then the school you requested it to be sent to will contact you, usually requesting a few more forms. There should be a "special consideration" form (or something like that, maybe a different name) that you can submit to list things like, Higher than average rent/mortgage, out of pocket medical expenses.
Submitting that information will help lower the "Expected Family Contribution" (EFC), and will, based on the budget the school has allocated, give you (hopefully) more access to state need grants, federal pell grants, school based scholarships and private .
Good luck!