The only integration WHD has in that regard is under Setup -> Assets -> Options. In there you can choose the option to configure Other Tools Links.
Whether you could use that for TeamViewer, however would depend on whether you can launch a TeamViewer session by formatting a specific URL. As you can see in the screenshot below, there are a few tags you can use to craft that URL, like:
So, in short: is it possible to make a URL from those fields that, when executed, will launch team viewer?