K9, retroactively "K9 Mark I" (Leeson), initially appeared in The Invisible Enemy (1977) as the creation of Professor Marius (Frederick Jaeger) in the year 5000. K9 subsequently travelled with the Fourth Doctor (Tom Baker) and Leela (Louise Jameson) as a companion of the Doctor in his adventures in time and space until The Invasion of Time (1978). In this serial, K9 decides to remain on the Doctor's home planet of Gallifrey with Leela. Immediately afterwards, Doctor Who would introduce a second incarnation of K9, played by the same prop; the last scene of The Invasion of Time shows the Doctor unpacking a box labeled "K9 Mk II".
K9 Mark 2 was the result of the activation of the Mark I's onboard regeneration unit. He had only very limited memories of his past as the Mark I. He had many adventures with Alistair Gryffen, Jorjie Turner, Darius Pike and his new master Starkey. (TV: Regeneration, The Bounty Hunter) Orthrus was an attempt by Drake and the Department to replicate K9, but it was of vastly inferior design. (TV: Jaws of Orthrus)
On 24 October 2015, Bob Baker and Paul Tams announced the film K9: TimeQuake which is destined for cinemas in 2017 and is to feature the robot dog facing off against classic Doctor Who villain Omega in deep space. However, this did not happen leaving it unknown when the movie will be released.[4][5]. In 2018 it was confirmed TimeQuake was confirmed to still be in pre-production, with plans for a prequel TV show to establish K9 for modern audiences before the movie.
K9's innards were redesigned twice more over the course of the series, firstly in collaboration with a company called Slough Radio Control. It allowed one of its employees, Nigel Brackley, to be seconded to the series semi-permanently to supervise the prop. Brackley, who has since gone on to a career in the movie industry, controlled K9 for many of its studio appearances. Eventually, there came a point where the dog's inherent liabilities were outweighing his assets, and the internal mechanisms were completely rebuilt by designer Charlie Lumm. The wheels were enlarged and given independent drives for power and better manoeuvrability, and the radio controls were switched from AM to FM signals to resist interference. However, by the time the improved model made his debut in State of Decay, the first story recorded for Season 18, the decision had already been made to write the character out of the series in the adventure Warriors' Gate.
Damaged by the time winds, K9 Mark II could not cross back into N-Space with the Doctor. He decided to stay behind at the Gateway with Romana II to help her free the remaining Tharils from slavery. (TV: Warriors' Gate) Eventually, Romana II and the presumably repaired K9 returned to their own universe and K9 Mark II came to live on Gallifrey. (PROSE: Lungbarrow, WC: Shada, AUDIO: Zagreus)
K9's innards were redesigned twice more over the course of the series, firstly in collaboration with a company called Slough Radio Control. It allowed one of its employees, Nigel Brackley, to be seconded to the series semi-permanently to supervise the prop. Brackley, who has since gone on to a career in the movie industry, controlled K9 for many of its studio appearances. Eventually, there came a point where the dog's inherent liabilities were outweighing his assets, and the internal mechanisms were completely rebuilt by designer Charlie Lumm. The wheels were enlarged and given independent drives for power and better manoeuvrability, and the radio controls were switched from AM to FM signals to resist interference. However, by the time the improved model made his debut in State of Decay, the first story recorded for Season 18, the decision had already been made to write the character out of the series in the adventure Warriors' Gate.
When Romana eventually returned to her own universe, she brought K9 Mark II with her (presumably having repaired it) and eventually became Lady President of Gallifrey. K9 Mark II is first seen on Gallifrey in the Virgin New Adventures novel Lungbarrow by Marc Platt, alongside K9 Mark I, which had remained with Leela. Both K9 Mark I and Mark II appear, voiced by Leeson, in the Big Finish Productions audio adventure Zagreus and the Gallifrey audio series. Leela's K9 (Mark I) was destroyed at the conclusion of the second Gallifrey series and only Mark II appears in the third series.
K9 returned when Ship used the black hole as fuel. Though Sarah Jane, Luke, Rani and Clyde were happy to have K9 back, Mr Smith was not. (TV: The Mad Woman in the Attic) K9 spent a lot of his time in Sarah Jane's attic at 13 Bannerman Road, Ealing, but left to defeat Travast Polong. He attended Sarah Jane's abortive wedding to Peter Dalton, where he helped the Tenth Doctor, Luke, Rani and Clyde defeat the Trickster. (TV: The Wedding of Sarah Jane Smith) After helping defeat the Slitheen family, Clyde brought K9 to Park Vale Comprehensive School to help him with his test. He helped defeat the Rakweed before returning home. (TV: The Gift) K9 went to the University of Oxford with Luke, but restored Mr White's original programming through a mobile phone.(TV: Goodbye, Sarah Jane Smith)

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K9 Mark III was a gift from the Doctor to Sarah Jane Smith (TV: A Girl's Best Friend). This K9 was broken for many years, until he was repaired by the Tenth Doctor. This K9 also had a "maximum defence mode", as well as offensive capabilities, such as a nose-mounted laser gun. He sacrificed himself to save Deffry Vale High School from Krillitanes. (TV: School Reunion)
K9 returned when Ship used the black hole as fuel. Though Sarah Jane, Luke, Rani and Clyde were happy to have K9 back, Mr Smith was not. (TV: The Mad Woman in the Attic) K9 spent a lot of his time in Sarah Jane's attic at 13 Bannerman Road, Ealing, but left to defeat Travast Polong. He attended Sarah Jane's abortive wedding to Peter Dalton, where he helped the Tenth Doctor, Luke, Rani and Clyde defeat the Trickster. (TV: The Wedding of Sarah Jane Smith) After helping defeat the Slitheen family, Clyde brought K9 to Park Vale Comprehensive School to help him with his test. He helped defeat the Rakweed before returning home. (TV: The Gift) K9 went to the University of Oxford with Luke, but restored Mr White's original programming through a mobile phone.(TV: Goodbye, Sarah Jane Smith)

Jealous, Possessive by Paul Magrs, the "Scorpio" story in Big Finish's anthology Short Trips: Zodiac features K9 Mark I and Mark II relaying their exploits to each other, and their veiled put-downs to each other reveal that each considers the other to be the "inferior" version. This attitude is also occasionally hinted at in the way the two units refer to each other in the Gallifrey audio series.

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