SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    719, 454, 420, 652, 670, 517, 648, 687, 
    649, 1137, 683, 516, 427, 698, 703, 428, 
    536, 425
  )

Query time 0.00007

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 (719,454,420,652,670,517,648,687,649,1137,683,516,427,698,703,428,536,425)"
        }
      }
    ]
  }
}