Can this cause pregnancy? Anxiety raging

I’ve been letting anxiety get to me and need some help

Can u get pregnant if you wipe sperm on a blanket? After he was done I didn’t put underwear on and stayed In the bed but im not positive I got anywhere near the little bit of sperm I wiped on the blanket. I’m just afraid that I accidentally put my vagina close/ onto the bit of sperm on the blanket

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Note that no sperm was deposited in to vagina from intercourse )