Well, as big a fan as I am of teaching a solid "come" and "stay", I still would never trust a Yorkie in an unfenced area - it's just too risky!
It seems to me that you have 2 options: fence the backyard (or at least part of it) or keep your pups on a leash outside. If you don't want to leash your pups to you, they make all kinds of "tie-out" equipment for dogs.
I'm so glad that your baby excaped serious injury!!!
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