I use this gate
Amazon.com: Evenflo Summit Pressure Mounted Metal... and have not had problems with my Yorkie escaping. It is a bit of a pain to set up, and can be hard to open, but seems pretty escape-proof. I would suggest leaving her crate in the kitchen with her, or using a playpen instead. If there are people in the house while she is left in the kitchen, she is crying because she wants to get to you.