Bahlia

 was a medic who had crashed on the planet Ryos. She sent out a distress call which was intercepted by both the Seventh Doctor and a salvage merchant named Keepsake. Eventually, she was rescued by the duo. The Doctor then entrusted Keepsake to take her back home. (DWM: Keepsake)

Nevertheless, she didn't go directly home. She had other adventures with her rescuer, including one incident in which their paths crossed that of Death's Head. (DH: Do Not Forsake Me Oh My Darling!)

Behind the scenes
This character was unnamed until DH: Do Not Forsake Me Oh My Darling!