For MDT this may just be a cheaper and safer option than the expense and risk of fighting some fundamental patent issue with Titan. If Medtronic is committed to the Hugo platform then they are just paying off Titan now in increments until Titan disappears or maybe McNally eventually decides to let a buyout proceed.
I don't think they've written a check for $30 million to Titan in lump sum. From my understanding they gave Titan $10 million up front in a "senior loan" that is separate from the $30 million. The 30 million will be paid out in increments based on the progress of Titan/SPORT.