Hire a hot nanny so you can have her watch the kids and also do her on the side.
Okay that's a porn script... I've got a couple kids here and a small zoo of animals and mostly it's worked best when I set up a strict schedule such that I am in the office (keep it seperate from the house in the furnished basement) and everyone knows I'm not available during those hours just like if I worked away. Now my kids are a bit older so it's easier in that they can take care of themselves for the most part (so maybe that's part of the key for you). Then I make sure they get a couple hours of my time per day as well as my mate. It's kind of about discipline for me making sure time is segmented and everyone gets some... work... family and alone time.
When I look at what I accomplish in a week I actually am fairly surprised. When you setup a scheduling system for yourself you can really get a very full week in that includes downtime. It's when I "dawdle" alot and get very liquid with my time that I get overwhelmed and feel we don't have any.
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