PS2 Slim making a grinding noise

So my PS2 is making the exact same noise as in this video:

https://m.youtube.com/watch?v=4Z2gR3gKFr...

and according to this video it's the Worm thing. Now I have not taken my PS2 apart to check that worm thing, but it is making the exact same noise and only does it when a disc is inserted just like in the video so I assume it's the exact same problem.

Do I have to buy the replacement part and have someone replace it for me? Does Sony still do repairs on PS2? Or is there a home fix I can do?

I just got Okami for ps2 so really eager to get my ps2 up and running again.