Looking after your body is one of the most important things you can do to maintain your ability to play. I play both the guitar and piano, and am also on the computer a lot, so my hands and wrists take a significant amount of stress.
I asked yoga instructor Esther Ekhart of if she knew knew of any yoga exercises that specifically target these areas, and here's what she said:
'I have a video for yoga in the office that will be helpful, good to remember that hands and wrist issues mostly stem from upper spine, bad posture, and not enough circulation (movement).'
Her neck pain and stiff shoulders yoga routines are also very nice when you've been rehearsing long hours and carrying heavy gear.
You can find more of Esther's yoga videos at www.yogatic.com.
I've also found this article on Yoga for Guitarists. Scroll down for some helpful exercises to release tension in the hands and wrists.