SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    3100, 3101, 3105, 3102, 3106, 3103, 3107, 
    3104, 3108
  )

Query time 0.00014

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": ["parent"],
      "key": "parent",
      "key_length": "3",
      "used_key_parts": ["parent_id"],
      "rows": 9,
      "filtered": 100,
      "index_condition": "cscart_categories.parent_id in (3100,3101,3105,3102,3106,3103,3107,3104,3108)"
    }
  }
}