Although John Leeson has been the primary voice actor for K9 since his introduction, two other actors have voiced the character. David Brierley voiced K9 during Season 17 after Leeson chose not to return to the series (Leeson subsequently signed up again for Season 18), and Roy Skelton, better known for his work voicing Daleks, voiced the character in Destiny of the Daleks when all was required of K9 was a croaking sound due to the character contracting a form of robot laryngitis.
After this he was tricked by Thorne to give him his regeneration unit for a lost memory chip. This turned him into a bomb to make him self-destruct on encountering Jixey. Starkey helped him disarm himself. (TV: Hound of the Korven) K9 Mark 2's brief life was almost cut tragically short when after the fall of the Korven invasion force, Thorne sent the Trojan to kill K9, who defeated it by burning out his power core and exhausting all his energy. As his regeneration unit was in the Trojan, K9 seemingly died at the mansion after his companions bade him farewell. However his regeneration unit homed in at the last minute and resurrected him, giving the frisky pup a new lease on life. The regeneration unit restored his old dog collar so he could celebrate the joyful occasion to the full as he flew off to more adventures, bristling with life. (TV: The Eclipse of the Korven)
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K9 Mark I, II, III, and IV addressed whoever was directing them as "Master" or "Mistress" depending upon gender, and used the formal "affirmative" and "negative" rather than "yes" and "no". They were programmed to be both loyal and logical, with a penchant for taking orders literally, almost to a fault. Their striped collars mirrored the Fourth Doctor's trademark scarf.
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".