Challenge is right!
Yes, it can be done. I have never done anything quite that complicated, but I have a basic understanding.
You would start with a bootable floppy that has a linux boot loader on it, such as GRUB. If you're lucky, Grub might be able to read the drive, and load the kernel. I know this isn't always possible with scsi cards, but maybe it is with some of them.
If that doesn't work, then you will need to put your kernel on the floppy along with a customized initrd.
The initrd file is a compressed ramdisk image. The most common use is to store some drivers that the kernel might need before it can mount the root partition. You will need the mkinitrd tools. Use these to put your scsi controller module into the initrd (and the script that loads it, I think this is done for you).
You will likely need a live CD such as knoppix to set this up. If you don't know already, read up on chroot. It can be useful to get at a non-booting system.