Yes. There are ways to limit the amount of space you lose on the first floor. Among the most obvious might be using a spiral staircase, adding enough space for a stairway, or using a curved staircase that requires no supporting under-structure. There are also ways to take relatively little space from the existing first floor and run most of the stairway through the attic. This can be a great way to use otherwise lost space where there is insufficient headroom.