ICAP concept

Simple answer is yes you can but I would try to limit it to only trigger when needed even if something like the following where you can only triggering base on the start and/or end of the URL path.

The following is a simplified iRule used for ICAP within using any data groups:

when HTTP_REQUEST {
    set lowerHttpPath [string tolower [HTTP::path]]
    if {($lowerHttpPath starts_with "/file") && ($lowerHttpPath ends_with "/upload") && ([HTTP::method] eq "POST")} {
        if {[active_members iCapPool] > 0} {
            ADAPT::enable request 1
        } else {
             iCap Pool is down, do not allow for file upload, reset the connection
            reset
            return
        }
    } else {
        ADAPT::enable request 0
    }
}