Risk from Martial Arts

I am 39 years old and male. I don’t take any medications. My question is related to an incident that occurred last night in martial arts training. While doing some light sparring, I got a small amount of blood on my hands from my partner, from a small dried skin abrasion on his hand. I washed my hands when I noticed with soap and water. The part of my hand where I noticed blood is totally intact and not dry. However, I have dry and slightly raw skin on the other side of my hand. I don’t have evidence that blood got on the dry and raw skin, but I’m not sure it didn’t happen either. Should I seek a medical appointment to evaluate risk of blood borne pathogens based on this event?