What do I do for overstaying my 4 weeks abroad -under doctors orders ?

Hello
My first time on here.
I am a disabled 65 year old man in receipt of ESA LCWRG and PIP and I am pretty new to internet medical communitys but soon I must move to universal credit in september and I am all over the place with what I heard off people.
I have brain damage from a fractured skull and poor memory concentration after having a stroke so please bear with me as a lot of my other problems come from those problems.
Keer Starmmer hasn't go a clue about us and the crap we go through every day.
But I was looking for the Universal Credit info after they sent me a lettter saying i am getting moved over to that in september 28
But before i ask about that I just found out that I have already done something wrong even though i did not know it was against the Dwp rules .
I was unaware that I had to notify the DWP if I went on holidday abroad .
I was told i could go for a month without having to tell the DWP which is ok as i only go for 14 or 16 days anyway.
I don't know what to do now? Because I went away for three weeks in May and had one of my panic attacks which also led to an accident when I slipped and fell on a hard metal seat-back, breaking a rib and shaking me up a bit.
After I was Xrayed and they found the damage the Doctor signed a letter saying I could not fly home until the ribs healed up seeing as the pressure on a plane journey could cause a punctured lung.
They said it could anything between 3 to five weeks and I definitely didn't want that to happen- but had to follow doctors orders
I am now recovered from my injuries .
And i then read that we must tell DWP every time i go away.
When I first went abroad I was told by my tennant support worker not to worry that I can go abroad for a month and that without telling the DWP.
I no longer have the tenant support anymore though
My problem is that on my holiday 7 May I was due to fly home on 29th May but because of my hospital treatment i was banned from flying so I had to wait until June 12 .
My home doctor knew of my accident as well as the chemist that does my meds, so that the hospital over there could give me replacements meds .
Since I been on ESA and PIP If I go away I only stay a couple of weeks anyway and I must get back in time for my Medication.
Before i go to move over to UC must I first tell the DWP about my accident and having to stay over ?
Would it be better to wait and tell them on the day I'm supposed to move over ?
Will they take any money off me ?
I know it sounds daft for a bloke of my age but I am normally over-worried about just simple phoning people anyway, let alone the government and social officials and the like. So I would like to know if I am in any trouble over this ?
Luckily, I kept all the hospital info letters and flight changes etc.
I think all in all I stayed an extra week over my limit, but as you can see it was out of my power, I was stuck there until my ribs healed up .
So what do I do next ?
Thank you for reading this .

Thanks for your help.