I've done this before and whilst they never fully recover what I did was pop them back in the case whilst still damp and moulded them around the curved bit to let them dry in that shape. I also just took a little lash comb and tried to brush them out in the right direction. They weren't quite good as new afterwards, but they weren't as mangled as when I finished cleaning them. Now, as Jade said, I use a bit of eye make-up remover and they seem to come up ok, sometimes I gently peel off the glue too if it looks like it'll come off nicely.