Yes. There are many medical related expenses that the IRS will allow. Publication 502 has this to say:
Transportation
You can include in medical expenses amounts paid for transportation primarily for, and essential to, medical care.
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Bus, taxi, train, or plane fares or ambulance service,
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Transportation expenses of a parent who must go with a child who needs medical care,
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Transportation expenses of a nurse or other person who can give injections, medications, or other treatment required by a patient who is traveling to get medical care and is unable to travel alone, and
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Transportation expenses for regular visits to see a mentally ill dependent, if these visits are recommended as a part of treatment.
What kinds of medical expenses are deductible?
