My midwife regularly pressed down on my belly to fee where baby was and where his head and but was. And he came out fine. I honk you'll be ok
I have ultrasounds twice a week and my little man hates them! And he won't move or do what he needs to so the ultrasound lady pushes on my belly(REALLY HARD) I don't think you have anything to worry about. They are professionals and they are rough on my belly.
How far along are you? I doubt it did any harm to your baby. Your baby is pretty protected in there. If you experience bleeding or cramping call your doctor. I was hit in the stomach by accident one day but my baby is just fine. If you are really concerned call your dr and see what they say. Good luck.