I have used the fat elastic band that you will find holding a bunch of fresh broccoli together, to pull the needle through. I just quickly fold it around the portion of the needle that sticks out, then pull. It really grabs on to the needle. It' s bulkiness makes it easy to quickly pick up if you keep it right near your top hand.....right there on the quilt.
Another item that helps is what I believe are called "finger cots". You can find them in the first aide section of the pharmacy. I use one on my first finger to help grab the needle on regular stitches but use the fat elastic when trying to pull the needle through a seam.