A Captain reported a NMAC during take off with a landing helicopter on parallel taxiway. Flight continued.

Narrative

We were cleared for takeoff on Runway 4R at Taxiway F. During the takeoff roll; we observed a helicopter to our right descending to land over Taxiway C. Taxiway C is approximately 500 feet from Runway 4R. As we rotated and climbed; there was a brief moment where our altitude appeared to be roughly the same as the helicopter's during its descent.No traffic advisory was issued by tower with our takeoff clearance; and the helicopter did not appear to receive any advisory regarding our departure. In my opinion; the lateral and vertical separation in this situation was minimal; particularly given the lack of traffic alerts to either aircraft. The situation required us to visually acquire and assess the helicopter during liftoff; and 500 feet of separation did not feel adequate under the circumstances.I would have been more than willing to delay our departure to allow the helicopter to land; or to use any other option that would have provided greater spacing. Avoiding such a tight window would have reduced workload and removed unnecessary risk for both flight decks.