SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1528, 1534, 1597, 1604, 1606, 1607, 1608, 
    1609, 1610, 1620, 1625, 1876, 1877, 
    1882, 1896, 1919, 1920, 1937, 1945, 
    1952
  ) 
  AND category_id != 414

Query time 0.00040

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "16.26"
    },
    "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": 25,
      "rows_produced_per_join": 25,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (1528,1534,1597,1604,1606,1607,1608,1609,1610,1620,1625,1876,1877,1882,1896,1919,1920,1937,1945,1952))",
      "cost_info": {
        "read_cost": "13.76",
        "eval_cost": "2.50",
        "prefix_cost": "16.26",
        "data_read_per_join": "88K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}