Biroc

Biroc was a Tharil whom the Fourth Doctor, Romana II and Adric first encountered when he managed to breach the Doctor's TARDIS after escaping slavers. (TV: Warriors' Gate)

Biroc was taken as a slave by humans. Rorvik took him to his ship and used him to navigate the time lines and help his crew and him escape from the Gateway. Biroc escaped and returned to the Gateway. Romana and K9 stayed in E-Space to assist Biroc in freeing his species from slavery. (TV: Warriors' Gate)