Drill out the channel thru the foam using either of the previous posted methods (drilling or melting). Then buy an extension such that the length will allow you to extend the wire into the receiver. When you need to remove the servo (to replace it or for maintenance), you disconnect the wire from the receiver, tie a string on it. Pull the servo out until you get to the plug. Disconnect the servo and repair or replace it. Then connect it back to the extension wire. The string you tied earlier is then used to pull the extension back into the fuse so you can plug it back in to the receiver.