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As Steve says, the Invisible Enemy opens with the TARDIS landing on Titan, but when the Doctor gets infected by the villain Leela and Michael Sheard's character take him to the closest medical facility, which is the Bi-Al Foundation, based on asteroid K4067, where the expert in alien infections is Professor Marius, who misses the dog he had to leave behind on Earth, so he's had his personal computer built in the form of a dog...