Not 100% sure, But I think it's a Void Spinner Familar.
You can gain me while you are in three - Part i'm not to sure about but either the three items it requires to be made, or your character, Pikupstix and his assistant at the taverly obelisk.
When you're done I will flee. - When it's time is up or you're finished, you dismiss it and it flees.
You can use me to travel - It's Scroll ability teleports you to the Void Knight Outpost.
And heal patches with me in the battle - Heals passively over time.