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There is one way to get a penalty free withdrawal on the amount of funds that were used to pay medical expenses above 7.5% of your AGI
However, the amount that is taken to pay for home expenses, etc are not subject to the penalty abatement.
How the medical expense allowance works is that if your medical expenses exceed 7.5% of your AGI then you can deduct that amount above that limit. For example, if your AGI is $100,000 and you had $10,000 of medical expenses then you could take a penalty free withdrawal on $2,500 of that.
That's the amount that your expenses exceed 7.5% of your AGI.
Also, you can avoid the penalty if you are over 59.5, or if you take substantially equal periodic payments.
You can read about 9 penalty free withdrawals, HERE
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Another great resource to read about this answer can be found, HERE