No mate, bones are the skeleton parts for the rigging process. Its been always bones
In max it called bones, in maya joints and also as you said in cinema 4d its called joints but they are all same thing. And sure after you made the skeleton of your character with joints or bones you should skin it to make your mesh deformable in the way you want.
You could import any kind of bones system into Vis if only the your direct x exporter can export it as .X file. Also .collada works in Vis but what I see from my results are the .x files works better in Vis. Or I maybe It was my fault not to get good results with collada exports for Vis.
I would like to see your hand-drawing characters bro