I haven't had to worry about this so far. Huey is 4 years old but his teeth are in good shape since he brushes them all the time. (Yes, he does, not me). My parents took their King Charles Cavaliers to the vet to have them sedated and teeth cleaned and it was quite expensive as well as traumatic. The vet office shaved a large patch on the forleg of each for the iv so it was a reminder for weeks afterward as these beautiful dogs hair grew back in. They said they will think long and hard before doing that again.
Huey brushes his teeth - YouTube