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Djokovic prevailed 6-7 (4-7) 6-1 6-4 in two hours and 19 minutes to maintain his quest for a 100th ATP Tour-level title, advancing to a record 77th semi-final at ATP Masters 1000 events.

Although he lost control in the second set, Mensik advanced his reputation as an elite server by registering 17 aces to Djokovic's seven throughout the course of the contest, with seven of those arriving in the opening set.

The Czech, ranked No.65 in the world, had defeated world No.6 Andrey Rublev and No.9 Grigor Dimitrov en route to the last eight, and Djokovic was impressed by the fight he put up.

"We went toe-to-toe until the last moment," Djokovic said. "I was fortunate to find great serves in the last game, a couple of aces, that helps.

"I didn't serve that well at the end of the first set when I was serving for it. He managed to turn things around by playing a good tie-break."

Asked about Mensik's potential, Djokovic said: "I could see today why he is one of the best servers we have in the game.

"He is only 19, the future is very bright for him. He knows that I am always there for him, whatever he needs.

"Jakub is somebody that I have been following for the last three or four years, ever since he played the junior finals of the Australian Open.

"We like playing each other, we raise the level when we face each other. We've played a lot of practice sets and it's always fun."

Mensik served up seven of his 17 aces in the first set, with a tie-break deciding who would claim the early advantage.

Despite taking a three-point lead, Djokovic found himself behind heading into the second set after a valiant comeback from the 19-year-old.

But the Serbian responded emphatically, finding a break of serve in the second game before hammering home his advantage, taking the encounter the distance.

Djokovic was again able to find an early break in the decider, with Mensik able to prolong the inevitable in the ninth game having squandered three opportunities for game point.

However, the world No.4 sealed the win in style, serving up a love game to set up a tie with Taylor Fritz in the final four after the American's win over David Goffin earlier in the day.