This is NOT a risk for HIV, and you do not need to test. The only risks for HIV in adults are:
1) Having unprotected anal or vaginal sex, or
2) sharing intravenous needles.
A lancet is NOT an intravenous needle. There is no other activity you could think of, including the event you mentioned, that would put you at risk for HIV.
This forum is only for HIV. You can ask about other diseases in the appropriate forums. Here's a list of MedHelp forums: https://www.medhelp.org/forums/list