SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    191, 
    319, 
    403, 
    340, 
    120, 
    196, 
    172, 
    181, 
    111, 
    192, 
    141, 
    415, 
    316, 
    320, 
    201, 
    154, 
    341, 
    173, 
    183, 
    193, 
    112, 
    121, 
    416, 
    197, 
    202, 
    317, 
    155, 
    142, 
    163, 
    194, 
    143, 
    412, 
    318, 
    409, 
    114, 
    174, 
    184, 
    215, 
    156, 
    95, 
    165, 
    126, 
    144, 
    115, 
    180, 
    122, 
    175, 
    195, 
    157, 
    313, 
    96, 
    158, 
    123, 
    101, 
    176, 
    145, 
    182, 
    214, 
    166, 
    124, 
    178, 
    190, 
    146, 
    169, 
    105, 
    159, 
    116, 
    160, 
    117, 
    168, 
    99, 
    118, 
    171, 
    100, 
    161, 
    119, 
    149, 
    102, 
    153, 
    418, 
    514, 
    417, 
    103, 
    150, 
    106, 
    152, 
    107, 
    151, 
    98, 
    104, 
    109, 
    444, 
    515, 
    419, 
    442, 
    463, 
    445, 
    464, 
    420, 
    461, 
    550, 
    446, 
    517, 
    465, 
    421, 
    483, 
    551, 
    466, 
    447, 
    518, 
    422, 
    490, 
    423, 
    519, 
    467, 
    448, 
    553, 
    491, 
    449, 
    424, 
    468, 
    554, 
    492, 
    450, 
    425, 
    469, 
    494, 
    493, 
    470, 
    451, 
    426, 
    495, 
    513, 
    427, 
    462, 
    471, 
    452, 
    496, 
    453, 
    472, 
    497, 
    473, 
    429, 
    498, 
    430, 
    474, 
    512, 
    499, 
    475, 
    431, 
    500, 
    432, 
    476, 
    501, 
    477, 
    460, 
    433, 
    502, 
    478, 
    434, 
    503, 
    479, 
    504, 
    436, 
    480, 
    481, 
    437, 
    506, 
    438, 
    482, 
    507, 
    439, 
    508, 
    440, 
    441, 
    510, 
    511
  )

Query time 0.00383

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "ALL",
          "possible_keys": ["parent"],
          "rows": 196,
          "filtered": 100,
          "attached_condition": "cscart_categories.parent_id in (191,319,403,340,120,196,172,181,111,192,141,415,316,320,201,154,341,173,183,193,112,121,416,197,202,317,155,142,163,194,143,412,318,409,114,174,184,215,156,95,165,126,144,115,180,122,175,195,157,313,96,158,123,101,176,145,182,214,166,124,178,190,146,169,105,159,116,160,117,168,99,118,171,100,161,119,149,102,153,418,514,417,103,150,106,152,107,151,98,104,109,444,515,419,442,463,445,464,420,461,550,446,517,465,421,483,551,466,447,518,422,490,423,519,467,448,553,491,449,424,468,554,492,450,425,469,494,493,470,451,426,495,513,427,462,471,452,496,453,472,497,473,429,498,430,474,512,499,475,431,500,432,476,501,477,460,433,502,478,434,503,479,504,436,480,481,437,506,438,482,507,439,508,440,441,510,511)"
        }
      }
    ]
  }
}

Result

category_id parent_id
313 101
111 95
120 96
141 99
154 100
341 101
172 102
180 103
191 105
196 106
201 107
112 95
121 96
142 99
155 100
163 101
173 102
181 103
192 105
197 106
202 107
122 96
143 99
156 100
174 102
182 103
193 105
215 107
114 95
123 96
144 99
157 100
165 101
175 102
183 103
194 105
199 106
115 95
124 96
145 99
158 100
166 101
176 102
184 103
195 105
116 95
146 99
159 100
190 104
117 95
126 96
160 100
168 101
178 102
118 95
161 100
169 101
119 95
149 99
150 99
171 101
214 95
151 99
152 99
153 99
316 98
317 98
318 98
319 104
320 104
340 101
403 106
417 415
418 417
419 417
420 417
421 417
422 417
423 417
424 417
425 417
426 417
427 417
429 417
430 417
431 417
432 417
433 417
434 417
436 417
437 417
438 417
439 417
440 417
441 417
442 415
444 442
445 442
446 442
447 442
448 442
449 442
450 442
451 442
452 442
453 442
460 442
461 415
462 461
463 461
464 461
465 461
466 461
467 461
468 461
469 461
470 461
471 461
472 461
473 461
474 461
475 461
476 461
477 461
478 461
479 461
480 461
481 461
482 461
484 442
483 442
485 442
486 442
487 442
488 442
489 442
490 493
491 493
492 493
493 416
494 493
495 493
496 493
497 493
498 493
499 493
500 493
501 493
502 493
503 493
504 493
513 416
506 493
507 493
508 493
509 493
510 493
511 493
512 417
514 513
515 513
519 513
517 513
518 513