My son rolled off the bed

My son is almost 7 months old. He was home with his dad when his dad turned away for 2 seconds and my son unfortunately fell off the bed. My fiancé immediately called 911, the EMTs said baby was fine and that we could stay home and to follow up with our pediatrician. So we followed up with our pediatrician and baby is completely healthy besides a few bruises. My soon to be MIL is beyond paranoid that CPS is going to show up for abuse because my son fell off the bed. Would CPS actually show up for this? My son has never been hurt before and we always call the dr when we feel like something is wrong.