Rob Green
Former West Ham and England goalkeeper on BBC Radio 5 Live

Sheffield United will be really disappointed. You've got back into the game and you’re in injury time, you’ve got extra time, you know that's coming and you leave it two-on-two at the back.

You’ve huffed and puffed for an hour and a half and been given a goal by some horrendous defending - and then you get caught on the break. It’s so frustrating because it's cost them a place in the FA Cup semi-final.

Watch David McGoldrick's equaliser for Sheffield United which gave the Blades hope before Arsenal's late winner from Dani Cellabos in injury time.

Leicester boss Brendan Rodgers has made four changes to the side who draw 0-0 with Brighton in the Premier League.

James Maddison isn't in the squad, while Kelechi Iheanacho, Nampalys Mendy and Demarai Gray drop to the bench.

In comes Dennis Praet, Youri Tielemans, Ayoze Perez and Harvey Barnes.

Leicester City XI: Schmeichel, Justin, Evans, Soyuncu, Chilwell, Praet, Tielemans, Ndidi, Perez, Vardy, Barnes

Subs: Ward, Morgan, Bennett, Fuchs, Choudhury, Mendy, Gray, Albrighton, Iheanacho

Frank Lampard has made SIX changes to the Chelsea side which beat Manchester City 2-1 and gave Liverpool the Premier League title.

Willy Caballero replaces Kepa in goal and there's starts for Reece James, Kurt Zouma, Billy Gilmour, Tammy Abraham and Emerson Palmieri/

Cesar Azplicueta, Andreas Christensen, Ross Barkley, Marcos Alonso and Olivier Giroud drop out. Jorginho remains on the bench.

Chelsea XI: Caballero, James, Rudiger, Zouma, Emerson, Kante, Gilmour, Willian, Mount, Pulisic, Abraham

Subs: Kepa, Alonso, Azpilicueta, Jorginho, Barkley, Loftus-Cheek, Kovacic, Pedro, Giroud

Robbie: Wow didn't see that coming...

Supreme Meme: Typical. You cannot just switch off at the end like that!

Arsenal have done it.

Moments after David McGoldrick's equaliser saw the game seemingly heading towards extra time, Dani Ceballos' goal in injury time takes the Gunners to a Wembley semi-final. What drama.

Arsenal advance. Sheffield United are out.

Sheffield United need a goal very, very quickly or they are out.

Damien Fogarty: I’ve run out of adjectives for Arsenal’s defending. Latest ones not for printing here.

Loser 92: come on the Blades!

But Sheffield United think they can win it in normal time. Billy Sharp, who has not been on for long, shoots from a tight angle but Martinez keeps the strike out with his legs.

Nicolas Pepe, who could well be the match-winner, leads a counter charge with some good pace just inside the Blades half, he gives it to Eddie Nketiah but he runs into a dead end and the chance is wasted.

Dean Henderson launches a ball forward and it is a huge clearance, Oli McBurnie tries to control it, but can't gather it cleanly and Arsenal, with nine men in their own penalty area manage to snuff out the danger.

Can Sheffield United force an extra 30 minutes? Time is running out for them.

PJ Collier: The Blades could go down in history as the only team to have more goals disallowed in a season than they scored...

Watch Chris Basham head narrowly wide of the Arsenal goal as Sheffield United go in search of an equaliser in the second half.

Chris Wilder turns to club captain Billy Sharp to save his side. Sharp on, Chris Basham off as the Blades take off a defender and bring on a striker.

Bako Omubo: We're going to struggle for goals when Aubameyang leaves. The pressure will be put on Pepe & Martinelli next season. Lacazette is having a dry spell.

Sheffield United have been the better side in this second half, although Arsenal goalkeeper Emiliano Martinez has still not really been tested.

Arsenal are happy to defend and then hit their opponents on the counter-attack. The pacy Eddie Nketiah is wiped out by Jack Robinson on the halfway line and Robinson is booked.

There are no FA Cup replays in the fifth round so we have to have a winner today.

Arsenal, 13-time FA Cup winners, are 20 minutes away from the semi-finals, but a Sheffield United equaliser would take us to extra-time and then maybe even penalties.

Don't forget, we've still got Leicester v Chelsea and Newcastle v Manchester City to come as well on an epic Sunday of football.

We've not seen much of Arsenal as an attacking threat but that is a well-struck 30-yard effort from Granit Xhaka, with home goalkeeper Dean Henderson worried.

Fortunately for the hosts, Jack Robinson gets his body in the way to block the attempt.