Feel like the worst mom in the world

My 4.5 month old rolled off our bed onto the carpet. Our bed is not even two feet off the ground. He’s acting normal and smiling/playing but should I take him to the dr? Call his dr? Keep an eye on him? He cried for a few minutes when he fell but then calmed down. My ppd is so bad from this and I have the worst guilt. Advice or words of encouragement for this FTM? 😔