Crank handle

The Doctor had a crank handle which he used when he needed to manually open the TARDIS doors.

The Third Doctor and Sarah Jane Smith used it on Exxilon after the TARDIS was put out of action. (TV: Death to the Daleks)

The Eighth Doctor used it in 1906 San Francisco after the TARDIS was damaged leaving Caleera's TARDIS. (AUDIO: The Gift)