Signs of a concussion are usually lethargy and vomiting. Kids are amazingly...bouncy. My kids have fallen out of cribs, off beds, couches, dressers and yet are just as normal as the next child. You know his behavior so if it's changed in any way, it might help with your peace of mind to have him looked at. Babies at this age are so squirmy & he's probably just all over the place in your bed so he's liable to do it again. Don't mean to scare you but I swore my kids were wrestling bears when they slept.
It may be time to introduce him to his own bed. I have seen too many moms and dads struggle with getting a child out of their bed & into their own space. I'm shocked my best friend & her husband even had a 2nd child because her son refused to sleep in his own bed till he was almost in school. They were able to at least get him on a cot in their room. I know how precious it is to have this warm, sweet, cuddly baby next to you, I have 5. But for his safety & your sanity later, I would suggest trying to move him to his own bed. And please don't take this as a judgement on your parenting. I do know people that have a family bed so I know it's done, just know I've seen the struggles they have afterwards.
Give him extra cuddle today and know that he's probably ok.