SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1531, 1533, 1535, 1537, 1541, 1538, 1542, 
    1543, 1544, 1545, 1548, 1551, 1565, 
    1566, 1567, 1569, 1576, 1577, 1605, 
    1613, 1614, 1615, 1619, 1627, 1628, 
    1675, 1673, 1839, 1840, 1841, 1842, 
    1843, 1845, 1857, 1871, 1891, 1885, 
    1894, 1895, 1897, 1898, 1902, 1903, 
    1922, 1924, 1925, 1927, 1928, 1929, 
    1933, 1935, 1936, 1938, 1939, 1940, 
    1941, 1946, 1948, 1954, 1956, 1957, 
    1962, 1963
  ) 
  AND category_id != 414

Query time 0.00051

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "57.61"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 93,
      "rows_produced_per_join": 93,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1531,1533,1535,1537,1541,1538,1542,1543,1544,1545,1548,1551,1565,1566,1567,1569,1576,1577,1605,1613,1614,1615,1619,1627,1628,1675,1673,1839,1840,1841,1842,1843,1845,1857,1871,1891,1885,1894,1895,1897,1898,1902,1903,1922,1924,1925,1927,1928,1929,1933,1935,1936,1938,1939,1940,1941,1946,1948,1954,1956,1957,1962,1963))",
      "cost_info": {
        "read_cost": "48.31",
        "eval_cost": "9.30",
        "prefix_cost": "57.61",
        "data_read_per_join": "329K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}