I do foot and finger exercises to help with peripheral neuropathy, and some gentle balance poses to help with the persistent numbness/tingling in my left foot and leg after the combination of chemo, external beam radiation, surgeries and intraoperative radiation. I've had to adapt some poses to do them sitting or laying down, but the short answer (for me) is that yoga poses that increase circulation and focus on improving balance help. I do a couple rounds of poses every day, in five minute increments. Hope this helps.
Go to www.tomtam.com Tom is an acupunctures who has invented a healing technique called tong ren therapy. It can help with just about anything. Let me know if you have any questions about it after you read the site. Also I am a yoga teacher and my additional advice is to keep your neck and shoulds open with stretching, massage, tai qi, tunia, or qi gong so that the blood can flow to the peripheries.