A cannula seal is presented. The cannula seal includes a cross-slit seal that can include a side wall that includes folded sidewalls; slits that are formed by the folded sidewalls when the cross-slit seal is in a closed position; and a concave end surface at the slits. The cross-slit seal can include energizing ribs formed to close the seal. The instrument guide includes a pyramidal shaped seal that seals against doors when no instrument is inserted and seals against an instrument when the instrument is inserted.