SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    2419, 3548, 3473, 2420, 2421, 3122, 2392, 
    2422, 3430, 3431, 3432, 3144, 351, 352
  )

Query time 0.00016

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": 14,
      "filtered": 100,
      "index_condition": "cscart_categories.parent_id in (2419,3548,3473,2420,2421,3122,2392,2422,3430,3431,3432,3144,351,352)"
    }
  }
}