SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    759, 760, 761, 762, 769, 770, 771, 772, 
    777, 781, 782, 783, 784, 785, 786, 787, 
    788, 791, 792, 793, 794, 795, 799, 800, 
    801, 802, 803, 804, 805, 806, 807, 808, 
    812, 815, 816, 821, 822
  ) 
  AND category_id != 414

Query time 0.00067

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "34.01"
    },
    "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": 55,
      "rows_produced_per_join": 55,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (759,760,761,762,769,770,771,772,777,781,782,783,784,785,786,787,788,791,792,793,794,795,799,800,801,802,803,804,805,806,807,808,812,815,816,821,822))",
      "cost_info": {
        "read_cost": "28.51",
        "eval_cost": "5.50",
        "prefix_cost": "34.01",
        "data_read_per_join": "194K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}