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I have had blood in my urine just like you explained for years. I always had pelvic pain as well. About 3 years ago I was diag with Interstitial Cysitis (IC). It's a bladder disease and will cause blood in the urine. Once I was diagnosed other things made sense. I felt pains that I had no idea were my bladder all those years. My OBGYN finally sent me to a Urologist and they were able to make the diag fairly quickly.
Blood in urine is not always visible. If the amount of blood is small, the urine looks normal. This is called microscopic hematuria because the blood cells are visible only under a microscope. Typically, this is discovered when you have a urine test for some other reason. A trace amount of blood in your urine is normal. The average person with a healthy urinary tract excretes about 1 million red blood cells (RBC) in the urine each day. This amount of blood is not visible. This is not considered hematuria.