Generally no, a collapsed sewer pipe cannot be lined. Cured in place pipe lining needs a continuous, mostly intact host pipe to form against, and a liner cannot bridge a missing wall or push through a total blockage. A partial collapse can sometimes be opened enough to line; a full collapse usually needs replacement.
The reason is structural. CIPP lining works by curing a resin saturated liner inside the existing pipe, so it needs that pipe to hold its shape and give the liner a surface to press against while it cures. Design standard ASTM F1216 separates a partially deteriorated pipe, cracked or with leaky joints but still holding its shape, from a fully deteriorated pipe that has missing sections or has lost its shape. A full collapse falls past that: no continuous opening is left for the liner to travel through or form inside.
A camera inspection is what tells a collapse apart from a clog. A clog blocks flow but the pipe walls are intact, so the line clears once the obstruction is cut or flushed out. A collapse shows crushed, pancaked or offset pipe with soil visible, and the camera head cannot pass. That picture decides whether pipe lining is an option or the pipe must be replaced.
If only a short section has given way and the rest of the run is sound, a plumber may clear and reshape that length enough to line it, though not always. When the pipe is fully collapsed, the usual fix is pipe bursting, which pulls a new pipe through the old path where one still exists, or excavation and replacement where it does not. The honest limitation is that no inspection can promise lining will hold until the pipe is seen from the inside, so the camera run comes first.