A method for generating an improved tool path for cutting a bone so as to minimize soft tissue trauma, wherein the method comprises:accessing an image of the bone which is to be cut；accessing an image of a pre-determined cutting pattern；superimposing the image of the pre-determined cutting pattern against the image of the bone；calculating the intersection of the pre-determined cutting pattern and the bone using the superimposed images of the pre-determined cutting pattern and the bone； andgenerating a tool path based upon the intersection of the pre-determined cutting pattern and the bone so as to minimize soft tissue trauma by leaving a thin perimeter of bone at the boundary of the bone cut when the boundary of the bone cut is adjacent to a bone surface.
