Escape, having grabbed rope and something to see with (10)
I believe the answer is:
flashlight
'something to see with' is the definition.
'escape having grabbed rope' is the wordplay.
'escape' becomes 'flight' ('flight' can be a synonym of 'escape'**).
'having grabbed' is an insertion indicator.
'rope' becomes 'lash'.
'flight' going around 'lash' is 'FLASHLIGHT'.
'and' acts as a link.
(Other definitions for flashlight that I've seen before include "Electric torch" , "shiner" , "that's illuminating" , "One beams brightly" , "It may be needed to see" .)