Most Antarctic ships show you the Peninsula from a Zodiac. Ultramarine can also show it to you from the air. Quark keeps two twin-engine Airbus H145 helicopters on board, flying from two helidecks, and uses them for flightseeing and for landings deep in the ice that no boat can reach. On the Snow Hill Island voyages the helicopters are how guests get to the emperor penguin colony on the sea ice, which is the reason most people choose this ship.
The rest of the ship is designed around getting off it. There is a water-level Zodiac hangar, four embarkation points and two ready rooms with a locker for every guest, so the time between "boats are going" and actually being on the water is short. Back on board, the sauna has floor-to-ceiling windows and the Panorama Lounge is glass on all sides. It is comfortable rather than showy.
Be honest with yourself about the Drake Passage. Every voyage here crosses it both ways, and helicopter time depends on weather, so a good trip can still include days when nothing flies. With 199 guests Ultramarine is on the larger side for a small expedition ship, which some people will notice at landings. If helicopters and emperor penguins are not the point for you, a smaller ship may suit you better.