You simply need to enter each one once. After you've entered all 5, the gate will be open in the secret room in the cyan area. You do have to climb a very tricky wall to get to it.
As a warning, the reward for getting past this is the hardest area in the game. And there isn't a reward for completing that challenge other than having the full map completed. Just letting you know ahead of time in case you choose to take on the challenge.