You just have to be very careful and not take anything for granted.
I hold my girls straddling my arm, with all the fingers of my hand wrapped around their chest. It makes for a good grip, and then can't get their feet underneath them to propel themselves forward. I don't know where I read about that particular hold, but I did and it works.
I agree, you cannot deprive yourself of the pleasure of a yorkie if that is what you really want. Accidents can happen to any pup. You just need to treat your pup like a fragile little angel. Maybe you should purposely seek out pups that are above standard so that they aren't so fragile!