I think it is normal to fall into routine (also referred to as a "rut"). The fact that your routine is he watches TV and doesn't help around the house is just a side note. If you are unhappy with your routine, then you need to talk with him and work with him to change it. But we ALL fall into routines. Make the routine something that you feel good about. THAT is the "secret".
My husband watches TV too. But not every waking moment. Not by a long shot. He has certain programs he enjoys (and then there is football season.... ). But he takes care of the lawn (and makes our son help), he runs regularly, he works out, he swims, he plays with the kids outside, he takes the dog out for playtime, he helps with the laundry, he grills whatever I ask him to, he comes up with stuff to do in our "off" time (concerts, dinner with friends, inviting family for holiday get together/BarBQ)... He even changes the sheets on the bed!
I don't ASK him to do any of these things. It is OUR routine. When he notices laundry piling up, he starts a load. When our bed hasn't been changed, he'll strip the sheets when I am in the shower. When I am debating what to make for dinner, he offers to grill it.
The OB thing... mehh.. that depends on you and him. I never felt like I needed my husband at the appointments. Not until near the end and our daughter was lying breech, and we were discussing external version versus C-section, anyway. He did come to some of them. He likes me to go with him to doctor's appointments (usually he isn't feeling well if he is going to the doctor!) so he thought I would want that from him. Not really. I mean, I didn't care. Sure it was nice, but I felt guilty, because I didn't NEED him to not be doing whatever else, whether it was work, having to rearrange his shift so he could go with me, or missing a golf game, or whatever. I was fine. It was kinda weird to have him sit in the lobby while I peed in a cup, ya know? And why? Why did he need to do that? He didn't.
If you want your husband there, then ask him to come. My husband was there are the most important times (labor/deliver, major decision making, taking me for the gestational diabetes thing... ewww). The rest... really would have been a waste of his time, in all honesty. It didn't "do" anything for me. Maybe it does for YOU. If so, TELL him.
But the rest... it is just a rut. Change the rut/routine to something you'd be happier with. And remember, we all go through cycles in our marriages. Because both parties are changing over time.