Steth's ship

From Memory Alpha, the free Star Trek reference.

Steth's ship was a small, lightly-armored starship, which could be operated with a single pilot. It was equipped with an experimental propulsion system known as a coaxial warp drive.

In 2374, the crew of the USS Voyager encountered Steth's ship, emerging from coaxial warp, and assisted with repairs to its propulsion systems. (VOY: "Vis à Vis")

It is unknown whether this ship was of Benthan design, or whether it belonged to the lifeform known as Steth.

The model later appeared as a background ship in episodes of Joss Whedon's series Firefly.