For an AIO/Prefilled loop, I would consult the owners manual for it, or the manufacture... Most cases you wouldn't do anything internally, all you should need to do is dust out the radiator.
If it's a custom loop, you may need to change the water every 6 to 12 months, but it depends on the water/coolant used as well as what type of water blocks, radiators, and pumps are used. If using distilled water, and coolant with antimicrobial properties, you should be able to go a year with out changing the water easily.