By now, Madonna’s fans know what to expect from one of her concerts: plenty of high-energy dancing, clever thematic vignettes, impressive stage props, colorful costumes and an eclectic set list that draws from highlights throughout her entire career.

Such a production demands precision, above all, with every performer having to know exactly when and where to be. There is precious little room for either improvisation or spontaneity, except for during carefully scripted moments (which kind of comically defeats the whole purpose).

But on Saturday night at a packed AmericanAirlines Arena in downtown Miami, Madonna managed to deviate from the mostly rigid set list and staged theatrics of her Rebel Heart Tour to add a heartfelt, personal touch for her onetime hometown crowd.

The show – part of the global icon’s 10th major tour – was in support of Madonna’s 13th studio album, “Rebel Heart,” and the still-spry-at-57 megastar showed off her well-documented rebellious side from the start, opening with a salacious video of her in a sequined ball gown trapped in a cage while guards who looked like they were flown in straight from the Wicked Witch of the West’s castle marched onstage. Madonna then descended dramatically in a medieval-looking cage to perform her fun-loving new anthem “Bitch, I’m Madonna” while surrounded by sexed-up geisha girls.

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