You can always inspect the stylus with a magnifying glass. If it's damage you will certainly know from visual inspection. However, if there was no degradation in sound, you are fine. I once dropped a Miyajima mono cartridge on my platter while mounting it on the tonearm. It was toast. This of course is different from what you did.
Accidentally dropped Benz cartridge on moving acrylic platter for my VPI Scout
When lowering the turnarm I guess I barely missed the lead in groove, and as such, my Benz Micro Wood SL cartridge fell onto the moving platter of my VPI Scout. After I noticed what happened, I rushed to remove it. I would say it was on the moving platter for about 5 seconds. What are the chances I could have caused any damage to the stylus? Upon visual inspection it looks fine, and my records aren't sounding any different. Is there any reason to be worried?