If the system is sealed air-tight and a really good filtering system is in place then you should NEVER have to clean your ductwork. Most dust people see in their homes (on beds furniture etc....) is broken down insulation that is being blown into the home from the attic (venturi effect) where the duct bucket (box etc...) is not sealed at the sheetrock ceiling. On the return side, ANY leaks in the ductwork will pull hot attic air and dust into the system, clogging up everything.
You may consider having your air ducts cleaned simply because it seems logical that air ducts will get dirty over time and should be occasionally cleaned. Provided that the cleaning is done properly, no evidence suggests that such cleaning would be detrimental. EPA does not recommend that the air ducts be cleaned routinely, but only as needed. EPA does, however, recommend that if you have a fuel burning furnace, stove or fireplace, they be inspected for proper functioning and serviced before each heating season to protect against carbon monoxide poisoning.