Trump saw off John Higgins in his semi-final while Robertson edged past Mark Selby.
Heathcote, ranked 69 in the world, had threatened an upset in Milton Keynes. Judd Trump survives scare to beat Louis Heathcote in English Open
Lines’ son Oliver has also been forced to withdraw as a contact.
Irishman Doherty beat the seeded Robertson en route to progressing to stage two in Milton Keynes.
The Leicester cueman edged his opponent in a tight contest.
The 39-year-old Londoner reached a first ranking final since 2016.
The six-time world champion Sullivan was in action for the first time since he triumphed at the Crucible last month.
Daniel Wells and Gary Wilson have tested positive, with Elliot Slessor and David Lilley also pulling out after coming into contact with Wilson.
Hawkins finished top of Group Four on the second day at Stadium MK and Milkins won Group Three.
The Welshman Ryan Day hit 147 to seal a 3-1 victory against Rod Lawler.
The 51-year-old is coming out of retirement.
‘The Rocket’ has no interest in eating bugs as he looks to land more titles
John Higgins claimed the first maximum of his Crucible career
The Rocket finished strongly to make sure of victory at the Crucible
He leads Kyren Wilson 17-8 after the afternoon session and needs one more frame to clinch victory
The Rocket had led 8-2 at one point
O’Sullivan leads Kyren Wilson 6-2.
The final got under way in Sheffield.
Wilson faces Ronnie O’Sullivan for the World Championship.
Both semi-finals at the Crucible went to final-frame deciders
The Crucible semi finished 17-16 to Wilson after Anthony McGill missed eight snookers
The Rocket wins frames 23 and 24 of his best-of-33 semi-final at the Crucible.
The government says ‘hard work’ to keep coronavirus under control has allowed restrictions to be eased
Wilson won 11 of the 16 frames played on Friday to overturn a 6-2 deficit
Selby took the session 6-2 to gain a two-frame lead overnight
McGill made only 47 pots in a one-sided session.
O’Sullivan complained about the worst kicks of his career
The Scot leads Kyren Wilson 6-2 after the first session
O’Sullivan completed a dazzling comeback to beat Mark Williams and reach the semi-finals
Trump became the 18th first-time winner to fail to retain the crown since the event moved to its present venue in 1977.
The three-time world champion wrapped up a 12-7 win over Neil Robertson at the Crucible.
World number one Trump trails 10-6 against Kyren Wilson
Five-time champion O’Sullivan trails Williams 6-2.