Yes.  Under certain circumstances, judicial liens and “nonpossessory, nonpurchase-money security interests”  may be removed if, based on the value of the asset and the amount of senior liens and encumbrances against it on the date your bankruptcy case is filed, the fixing of the lien causes it to “impair” an exemption to which you are entitled under State (or other applicable) law.

Removing Judgment Liens

Removing Junior Mortgage Liens