SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    823, 433, 510, 506, 407, 598, 641, 507, 
    432, 672, 447, 879, 431, 848, 647, 892, 
    645, 608, 570
  )

Query time 0.00048

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": 19,
          "filtered": 100,
          "index_condition": "cscart_categories.parent_id in (823,433,510,506,407,598,641,507,432,672,447,879,431,848,647,892,645,608,570)"
        }
      }
    ]
  }
}