Marriage failing and Toxic

Hello. My husband and I have been together for going on 8 years now. We are still young he’s 27 and I am 24. Our marriage has been rocky the first few years we was together then things started to change we had babies and got married and now, things seem to be changing for the worse again… he calls me names constantly always fighting with me if I don’t message back within a min, tells me I’m constantly lying when I go to the store or something, tells me I’m worthless and don’t deserve my kids, etc!! (He has been diagnosed with severe bipolar issues) but, what do I do? Is it worth risking the rest of my life to get treated like crap even though I knew he had these problems? I just need answers, I’m lost and confused!