This is a tricky question and one that interests me also.
One possibility is to remove/alter the page's entry in the browser history. I'm not sure that all browsers will permit this (and it might be quite nasty when you start dealing with bazillions of browser possibilities) but the idea is that you would remove the submitted form entry from your browser's history so there'd be no way to click "back" and end up on it again. Mozilla has some documentation on manipulating the browser history -- apparently it's a feature of HTML5. There's also history.js which I found pretty confusing.
If you are not able to remove the dangerous history entry, then you will need to maintain some information server-side that you can check -- perhaps in session or via query string? For instance, if someone has submitted the form, you could set a cookie that says there was a recent submission. This cookie could stay set until the user closes their browser or something.