YES, I do not know the H10 like the back of my hand, but you should almost certainly be able to use the video out jacks to the video in of the DVD recorder to accomplish this; I am not sure what the resolution loss rate would be.
You would have to read the true specs of the DVD recorder VERY CAREFULLY and seek some real world user experiences on models you are looking at. These devices can have habits of not being compatible with the most widely available media AND, even once you find a workable media, your burned DVD may or may not work in a vast majority of other players (if that is of any concern). This is the MAIN thing the DVR to PC eliminates, even if you went through a capture card first and then used a top quality PC DVD-DL (DVD9) burner.