Escapology was the technique of extrication from confinement.
Jo Grant received training in escapology. (TV: Terror of the Autons, Carnival of Monsters, PROSE: Verdigris)
Time Lord operatives were taught escapology on Gallifrey XII during the Second War in Heaven. (PROSE: Alien Bodies)
The Twelfth Doctor said he taught Harry Houdini everything he knew. (COMIC: The Swords of Kali) In other occasions, he gave credit to Houdini for his escapology know-how. (PROSE: The Sorcerer's Apprentice et al.)