Look, your DH is there and he is helping, and, I think him being close to you is maybe necessary for his sanity. He is probably is full on protective mode, so dipping out is the farthest thing from his mind.
You feel scared and you have every right to, labour is scary. Just keep telling yourself, there is an end point to it. It will not last and you will get through it.
Yes your tummy takes a while to heal, but you can do exercises to get it into shape after a c-section.
If you BF, then the recovery from C-section is a bit more manageable as you can just lay in bed and feed at night, and not get in/out of bed.
If you have a cot with a removable side, then you can put this right next to your bed with one side off, and baby will be right next to you/DH. I had DH sleep on the "baby"side, so when DS woke, he passed him to me and did the winding/nappy changes.
It is all manageable. You can do it.
Whatever you chose will be the right thing for you.
Have you got any DVDs you can watch. If you want a bit of escapism, try watching "Forgetting Sarah Marshall" or "I love you man", both daft and silly.