The Spartacus was a Maquis Peregrine-class vessel. The ship was named for Spartacus.
In 2371, Chakotay was in command of the Spartacus. Thomas Riker was involved with the crew on a mission to the Helena colony. (TNG - Double Helix novel: Quarantine)
In 2385, Tom Riker mentioned to Tuvok that they had met on the Spartacus, allowing Tuvok to determine Tom's identity. (ST - The Fall novel: The Poisoned Chalice)