I did anal masturbation and a little blood came out, a while later i pooped out some blood mixed with mucus and then there was a tiny amount in my poop, only about a couple of ml of total, and almost all was mixed with mucus. should i see a doctor?

Your choice. The anus is designed to help stuff out, not put stuff in. Anal masturbation would be expected to trigger some bleeding from torn tissues that would be bright red. Blood coating the outside of poop would be common. Puddling of blood if the mechanical event were vigorous would also be expected. When blood is maroon or darker it is more worrisome of a health problem.

Agree with Dr. F. Anal canal is not designed for things to be inserted. If you must engage in anal masturbation, make sure you use a small object and lubricate it well with a water based lubricant like K-Y jelly.