A B717 flight crew suffered a track deviation when they failed to note the SSOXS RNAV SID to which they were assigned on their ACARS PDC delivered clearance.

Narrative

After takeoff we were questioned by departure if we were given the SSOXS RNAV SID. The First Officer read back negative. We were then given a 150 heading and handed over to the next controller. We later looked at the ACARS PDC printed clearance and realized that it was on the PDC printed copy. It appears that we missed it. We told ATC that it was actually on there and asked if this was going to be an issue. He said it was a new thing they were doing and that they had been having a lot of problems with this RNAV. There were no issues. I believe the problems here were: First; the PDC clearance read BOS LUCOS SEY067 SEY; etc. (the same as our flight planned route); the SSOXS ONE DEPT was on the line after the routing; not before the routing. Second; we had to deice and got busy with reviewing the laminated sheets for proper deice procedures in BOS. On takeoff we flew runway heading. I believe that a lot of big airports we fly in and out of do something a little different when it comes to RNAVs; I believe if all the airports had standardized phraseology it would be very helpful to the pilot group.