SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    479, 480, 484, 493, 494, 495, 496, 497, 
    498, 506, 508, 509, 510, 511, 521, 522, 
    523, 524, 525, 526, 527, 564, 565, 566, 
    567
  ) 
  AND category_id != 414

Query time 0.00053

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "51.26"
    },
    "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": 100,
      "rows_produced_per_join": 100,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (479,480,484,493,494,495,496,497,498,506,508,509,510,511,521,522,523,524,525,526,527,564,565,566,567))",
      "cost_info": {
        "read_cost": "41.26",
        "eval_cost": "10.00",
        "prefix_cost": "51.26",
        "data_read_per_join": "353K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}