SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    41284, 41377, 41378, 41188, 41314, 41213, 
    41337, 41380, 41306, 41260, 41376, 
    41361, 41259, 41193, 41291, 41292, 
    41174, 41177, 41214, 41178, 41175, 
    41359, 41179, 41176, 41180, 41181
  )

Query time 0.00063

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "8.56"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 41,
      "rows_produced_per_join": 41,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "4.46",
        "eval_cost": "4.10",
        "prefix_cost": "8.56",
        "data_read_per_join": "106K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`maniamall_cscart`.`cscart_categories`.`parent_id` in (41284,41377,41378,41188,41314,41213,41337,41380,41306,41260,41376,41361,41259,41193,41291,41292,41174,41177,41214,41178,41175,41359,41179,41176,41180,41181))"
    }
  }
}

Result