SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    481, 768, 1021, 726, 745, 1017, 1166, 
    885, 1135, 1131, 942, 1157, 1169, 837, 
    755, 786, 435, 765, 489, 693, 744, 760, 
    468, 758, 1156, 430, 594, 743, 794, 782, 
    713, 741, 497, 582, 574, 819, 784, 659, 
    450, 415, 884, 1066, 1179, 833, 1088, 
    1168, 1087, 844, 939, 1171, 941, 1016, 
    1094, 479, 950, 1186, 1097, 1106, 961, 
    1182, 1022, 1107, 1109, 1108, 1105, 
    1185, 1104, 1181, 1103, 1102, 1100, 
    1134, 1098, 1028, 1032, 1112, 1184, 
    434, 429, 952, 774, 1162, 448, 498, 414, 
    1183, 1192, 1188, 828, 792, 500, 522, 
    499, 493
  )

Query time 0.00019

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "ALL",
          "possible_keys": ["parent"],
          "rows": 525,
          "filtered": 29.90476227,
          "attached_condition": "cscart_categories.parent_id in (481,768,1021,726,745,1017,1166,885,1135,1131,942,1157,1169,837,755,786,435,765,489,693,744,760,468,758,1156,430,594,743,794,782,713,741,497,582,574,819,784,659,450,415,884,1066,1179,833,1088,1168,1087,844,939,1171,941,1016,1094,479,950,1186,1097,1106,961,1182,1022,1107,1109,1108,1105,1185,1104,1181,1103,1102,1100,1134,1098,1028,1032,1112,1184,434,429,952,774,1162,448,498,414,1183,1192,1188,828,792,500,522,499,493)"
        }
      }
    ]
  }
}