SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    418, 419, 420, 421, 422, 423, 424, 425, 
    426, 427, 429, 430, 512, 431, 432, 433, 
    434, 436, 437, 438, 439, 440, 441
  )

Query time 0.00114

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "range",
          "possible_keys": ["parent"],
          "key": "parent",
          "key_length": "3",
          "used_key_parts": ["parent_id"],
          "rows": 23,
          "filtered": 100,
          "index_condition": "cscart_categories.parent_id in (418,419,420,421,422,423,424,425,426,427,429,430,512,431,432,433,434,436,437,438,439,440,441)"
        }
      }
    ]
  }
}