Barnabus

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You may be looking for the comic story or 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. (COMIC: Barnabus)

Strangely, Barnabus was never seen nor referred to again afterwards.
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Companions of the Second Doctor
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