Help identify this childhood young adult fiction, sci fi?

[Asitshouldbe]

Basically it's about this lone space pilot, I forget his mission but he's the last of his kind. He also has this Familiar, it's an imp or little goblin. At one point he's tied down and shot with an energy weapon, which is lethal only to the point that it causes such pain and contraction in the muscles that every bone in the body is broken. His don't break because he has been altered by his Familiar with titanium bone structure. He thinks he's dead but the Familiar tells him to get up because his skeleton is impossible to break and it's just left over pain.
Thanks in advance.