Heinicke made his first career start on Sunday, but suffered an elbow injury to his non-throwing arm.
This means that Kyle Allen will get his first NFL start with Gilbert serving as his backup.
Heinicke, 25, wound up signing on with the Vikings as an undrafted free agent out of Old Dominion back in 2015. He managed to make the 53-man roster during his rookie season but wasn’t active for a single game.
The Vikings elected to waive Heinicke with an injury designation coming out of the preseason last year before eventually cutting him loose with an injury settlement.
Heinicke had brief stints on the Patriots and Texans before being claimed by the Panthers this past April.
In 2018, Heinicke has appeared in six games and completed 61.4 of his pass attempts for 320 yards and one touchdowns and three interceptions.
Gilbert, 27, is a former sixth-round pick of the Rams. However, his time in St. Louis he was waived at the start of the 2014 season and later signed to the Rams’ practice squad.
After a brief stint with the Patriots, Gilbert was later claimed by the Lions. Unfortunately, Gilbert was unable to make the Lions’ 53-man roster coming out of the preseason but spent the entire 2015 season on the Raiders’ practice squad.
The Raiders cut him loose only to bring him back after Derek Carr got hurt towards the end of the season. Gilbert signed on with the Panthers this before being added to their practice squad at the start of the regular season.
He was among Carolina’s final roster cuts coming out of the preseason.
Gilbert has yet to appear in an NFL game.