SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1870, 1854, 1852, 1603, 1624, 1556, 1626, 
    1553, 1849, 1612, 1850, 1851, 1853, 
    1855, 1856, 1858, 1859, 1860, 1861, 
    1862, 1863, 1864, 1865, 1866, 1867, 
    1868, 1869, 1872, 1873
  ) 
  AND category_id != 414

Query time 0.00081

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "23.91"
    },
    "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": 37,
      "rows_produced_per_join": 37,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1870,1854,1852,1603,1624,1556,1626,1553,1849,1612,1850,1851,1853,1855,1856,1858,1859,1860,1861,1862,1863,1864,1865,1866,1867,1868,1869,1872,1873))",
      "cost_info": {
        "read_cost": "20.21",
        "eval_cost": "3.70",
        "prefix_cost": "23.91",
        "data_read_per_join": "130K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}