I would definitely consider a doula! It sounds like having a 3rd person who's main focus is on you would be a great thing for both you and your husband. She will also help you if there are any difficult decisions you haven't thought about, or if any arise while you are in labor. My delivery was very prolonged and my midwife was invaluable, even after we had to transfer to the hospital. When I had to make the decision about a c-section she made me realize that I had put in the work, and the most important thing I needed was a healthy baby with a healthy mother. She made me and my husband feel that I wasn't a failure and that the c-section was o.k. She helped us make the right decision extremely quickly. She saw the complication coming and prepared us before the decision had to be made. Without that, my son could have had serious complications. And afterwards, she made sure that our original birth plan was carried out as much as it could be. She was invaluable.
If your husband (bless him for being sensitive!) may have problems during labor you both will feel more comfortable with someone else there just for you. A doula will also be able to help you post delivery.
Check with a local birthing center, or you could contact your local La Leche league. They are both going to be able to recommend someone excellent. You do need to do it now, though. You're already pretty far along!
Congratulations! I know it's going to be an amazing experience for all 3 of you!