I have a very similar problem with my ScanSnap S1500M. Those little gold-colored rollers seem to be silicone and mine were/are deteriorating. Fujitsu Tech told me they did not supply the silicone rollers to customers; that it would cost more to send them them machine to replace them than to buy a new model. So, I used needle-nosed pliers to pull these off the bars in small bits (yes, they're that bad) in hopes I would learn that the machine can still scan without them.
And actually, it can! However, I need to truly complete the job of removing the deteriorated silicone from the bars - I got most of it but not all and what's left is leaving sticky residue on some of the pages I try to scan which causes a paper jam. I've been lucky with this scanner - 10 years of ownership and 9 of those in a humid climate. It's no longer supported by Fujitsu and I have to use it with an older version of macOS (High Sierra). My work-around for that is to store all my scans in iCloud so that I can scan using the old macOS on my antique desktop but then I access the docs via my newer laptop that uses macOS Big Sur. It's cumbersome but it works.
Now, back to getting the rest of that silicone stuff off...