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By looking at the annual interps, I infer that the rule came in to effect in the 2005-2006 season. And, one of the case plays from that year specifically deals with blood on the jersey:
SITUATION 5: A1 is directed to leave the game with a blood-saturated jersey. While at the team bench area, he/she removes the jersey and changes into a clean, spare jersey. RULING: A1 is assessed a technical foul. Team B is awarded two free throws and the ball for a division line throw-in. COMMENT: The uniform rule is intended to be applied in all situations. It is not unreasonable to expect team members to leave the playing area to change uniforms
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