Talib was forced off with a knee injury after a collision with Welker in the second quarter, leaving the Patriots struggling to cover Demaryius Thomas for the rest of the game as the Broncos ran out 26-16 winners.
"It was one of those plays where it's kind of a rough play and I was trying to get him to go over the top, and I think he was thinking the same thing and wanted to come underneath and we just kind of collided," ESPN quotes Welker as saying.
"It wasn't a deal where I was trying to hit him or anything like that. I hope he's OK. He's a great player and a big part of their defense."
Welker and the Broncos will face the Seattle Seahawks in the Super Bowl on February 2.