HIV is ONLY transmitted by unprotected vaginal or anal sex or sharing IV drug needles. This is in no way an HIV concern.
A needle stick has fresh blood in it, not old semen.
To give a bit more information. Transmission of HIV only really happens inside the body. Air inactivates the virus. So, even a needle stick alone does not transmit the virus. IV injections would because of the method but sticking something sharp into yourself is not going to transmit the virus because it was exposed to air prior to being stuck. Cutting yourself on an object whether it has semen or blood on it would not transmit the virus. Again, air would inactivate it. The only ways adults get HIV in the real world is to have unprotected vaginal or anal sex or share IV drug needles. That is it.