only way for that is the entire maze again, i think that if u unlocked the doors they stay unlocked though (i cannot be sure cause i never did)
Best way is with a quest guide
tip.it a good shortcut is to get caught by the little vympyers (or Whatever they are) and just mine the 10 ore (so a good pick could make it quicker) that puts u about half way thru the maze, or right close to the lab if thats what ur after.