Don't Panic
I had the exact same issue. And all I had to do was :
1. Logout out and back into my machine (to make sure iTunes helper app started up again.)
2. Open iTunes
3. With iPhone connected via usb, press and hold the Power button and Home button for 15-20 seconds until the yellow triangle appears
4. Then in iTunes it was there and I could restore
Cheers,
Alienlan
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