Never. Occasionally I might siphon out some of the detritus, as in once in 5-10 years. Even then I don't bother to get everything, just what I can siphon out with a normal water change. Here's a link on the role of fish poop in the carbonate cycle on reefs:
I keep meaning to build a little recirculating vacuum similar to that. Canister filters work but are bulky and expensive. I was thinking more inline pre-filter box with a simple screen for gravel (large cross stitch grid or something) and discharge into a filter sock.
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