you should never use metal objects in non stick pans/saucepans the best way my wife has found is to soak them in hot water after emptying them and add washing up liquid and leave soaking until you wash up after the meal.
I agree with the washing detergent option. Bring the pan to boil with a little liquid and soap....or empty a cup of water from the kettle into the soiled pan...leave for an hour then clean as usual.