The Aerowing appeared in every episode of VOYAGER but you’d be forgiven for missing it. It was the equivalent of the Captain's Yacht and was docked with the underside of Voyager's saucer. It was there but never deployed. The ship was designed by Rick Sternbach and was built at Foundation Imaging, who suggested using it instead of the Delta Flyer. The model is 4.3" (11 cm) across.
