As others suggested, use the healing powders (although they lower your stats), or try using first aid or doctor on yourself. I play sharpshooters most of the time and I am usually pretty bad with melee weapons at the start, but it's easy to trick the ants/scorpions, just try it a few times. Hit them once, then run away, or try two hth puches, then run away, you'll get it right after a few tries. If you do it right, they only have enough action points to get into your melee range, ending their turn in front of you, not being able to attack.
I can't remember now, but I think for ants it's two puches, for scorpions it's one spear attack or something like that. Just make sure you don't get trapped in a corner, run around in a large circle if possible. If it's not possible and you hit a wall, miss one of your attacks, that makes up for having to run past your enemy.
It's definitely not the most enjoyable part of the game.