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Venussa was one of the Monoids' slaves aboard the Ark in the 57th Segment of Time. She and the other slaves were familiar with the First Doctor's role in their history. She was one of the many slaves who mistrusted the collaborator Maharis.

Venussa distracted a Monoid so that Dassuk and Steven Taylor could capture it. She later helped in the search for the bomb that had been planted on the ship by the Monoids.

She and Dassuk eventually made peace with their former masters on Refusis II. (TV: The Ark)