one of "voyager"s shuttles, the "aeroshuttle", was integrated with the hull in the saucer section and although it was never used in an episode, the production team did develop special effects test footage of it disembarking. voyager's "aeroshuttle" was intended as a warp-capable vessel that could also fly in atmospheres; the footage was made by cgi team leaders rob bonchune and adam lebowitz, along with the vfx producer dan curry. two other craft, the "manta" and "cochrane" were also developed but the manta was not used. as referred in the website below,