Barnabus

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You may be looking for the priest.

Barnabus was a robot invented by the Second Doctor to do chores around the TARDIS – serving tea, for example – and could also operate the Time/Space craft. While on an unnamed planet, Barnabus saved the Doctor, John and Gillian from a gun crew who mistook them for invaders. (TVC: Barnabus)

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Companions of the Second Doctor
Original to television
Original to prose
Original to comics
If a medium is not mentioned, then this incarnation did not have companions who were original to that medium; it does not mean that this Doctor failed to appear in that medium.
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