I'm a nurse and have cared for Rh- mothers before, plus I have taught maternity nursing. Here's the standard care plan for my area:
1. Injection of anti-D immunoglobulin (RhoGAM or WinRho) at 28 weeks gestation.
2. When the baby is born, a cord blood sample will be taken. (This does not hurt the baby. Once the cord is cut, the doctor/midwife will open the clamp on the portion of the cord attached to the placenta, and drain some blood into a test tube.) The lab will note that Mom is Rh- and test the blood. If baby is Rh-, all is well and no intervention is needed. If baby is Rh+, Mom will be given WinRho/RhoGAM within 72 hours of the birth, usually while she is still in hospital. (Home births aren't that common in North America. My expectation is that if a mother had a home birth with a midwife, the midwife would arrange all of this.)
3. WinRho/RhoGAM is also given after a miscarriage, termination, or invasive procedure where mother and baby's blood could mix (e.g. amniocentesis).
After baby is born, if baby is Rh+ and there are antibodies (part of the cord blood testing is to check for this), we'll also get excited about jaundice at a lower bilirubin level than we would for a baby where this was not an issue. By excited, I mean that we'll initiate treatment earlier than we otherwise would. The risk is that the mother's antibodies can attack the baby's blood, causing the breakdown of red blood cells. Bilirubin is produced by the breakdown of red blood cells. Too much bilirubin in the blood is what causes jaundice.
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