How can I be sure all the asbestos particles are gone?
If you had the ceiling removed by "professional certified removers" then you are free of asbestos.  They should have sealed everything up, including vents, etc. before starting and all the particulates were pulled out of the air as the removal was done.

Now on the otherhand if you did it yourself or hired some shady under the counter removal company, your probably exposed already so nothing you do now will matter much.

There is a bit of hope in that the asbestos used was probably long grain(Old terminology, now they are classified by color.) rather than short grain.  Long grain is less toxic than short grain but can still cause cancer, etc. 

Cleaning everything, ducts, Furnace, filters, air conditioners, rugs, walls, floors, household items, etc., etc., etc. will help remove residual contamination, as will leaving all windows and doors open.  Once spread all over your home asbestos is hard to impossible to remove completely.

Use masks if you do the cleaning yourselves and a water vacuum to clean the rugs. 

It will cost a small fortune to have an asbestos removal company do a whole house clean.  Also in many states doing asbestos removal yourself is illegal. So if you removed the ceiling yourselves don't get pro's in after the fact as its way too late and way too costly.