Your situation involves personal contact with an object in air ( lancet which is not a risk for hiv.) No worries, because you can't get hiv from personal contact except unprotected penetrating vaginal or anal, neither of which you did and you didn't share hollow needles to inject with which is the only other way to acquire hiv. Analysis of large numbers of infected people over the 40 years of hiv history has proven that people don't get hiv in the way you are worried is a risk.
HIV is a fragile virus in air or saliva and is effectively instantly dead in either air or saliva so the worst that could happen is dead virus rubbed you, and obviously anything which is dead cannot live again so you are good. Blood and cuts would not be relevant in your situation since the hiv has become effectively dead, so you don't have to worry about them to be sure that you are safe.
Lancet is not hollow so not a risk.
This is not a risk for HIV! As anxious said, the only ways adults get HIV is from having unprotected vaginal or anal sex or sharing IV drug needles. Touching things doesn't result in HIV as air is present which inactivates the virus. Needles that are concerning are injectable needles and not lancets which is a needle poke. The end of a lancet is exposed to air. No risk.
For information only ,,, mention only not for doubting ,,, has a case of HIV infection from Lancet Irbid been recorded, because I trust you, thank you everyone and understanding