SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    167, 234, 170, 320, 322, 174, 328, 329, 
    350, 351, 378, 513, 423, 600
  ) 
  AND category_id != 264

Query time 0.00103

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "34.11"
    },
    "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": 68,
      "rows_produced_per_join": 68,
      "filtered": "100.00",
      "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`parent_id` in (167,234,170,320,322,174,328,329,350,351,378,513,423,600))",
      "cost_info": {
        "read_cost": "27.31",
        "eval_cost": "6.80",
        "prefix_cost": "34.11",
        "data_read_per_join": "213K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`category_id` <> 264)"
    }
  }
}