I used to use a vacuum to clean up the stray poops when we had a condo. Tucker would sometimes come out and sometimes she’d follow the vacuum around..I used to say she was quality control lol. You can also do a small section at a time. I still do this with my pen. I will take everything off her shelf first and put it on the lower level. This level I still vacuum since it has carpet. After that’s all done I put everything back there as it belongs (except the litter box as those get done last so that would still be out waiting). Then I pick up everything from the lower level and put it either on her shelf or on top of the pen on my shelf that I keep my supplies on This depends on if she’s in the pen or not. If she’s in the pen she’ll just toss everything off her shelf while I am cleaning so then I put it on top. I then sweep up this level since it’s tiled. After that I put everything back and then I clean the litter boxes. I put the big one back in first since this is the main litter box and that way she gets it ASAP in case she needs to use it..which of course since it’s fresh she always does! Then I do the other two and put those back in. After all this is done I go and get the vacuum again and I take the telescoping handle and get behind and on the side of the pen to catch any stray hay or poops that might have gone back there.
I only do a big cleaning like that once or twice a week. Depending on what is needed.
Daily I sweep up the poops from each level and tidy it up at night for her so that she has nice new spots to explore. I got from walmart I think it was..a small little hand broom and a mini dust pan that clips onto it. This is AWESOME and a huge lifesaver. Since daily I do spot cleaning only I usually only lift up the stuff from a small area, clean under it and then move on. This little broom gets in those small areas really well and it also helps me get the corners really well. Even on my big cleaning days I find this helpful for the corners. The small broom would probably be easy for you to use while she’s in there too as it doesn’t take up much more space then your actual hand. That way it wouldn’t be frightening for her to see while she was still in the cage.
Like others have said though..getting in there with a vacuum might just do the trick to getting her out and about heheh.