SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    440, 554, 385, 441, 568, 562, 412, 393, 
    410, 305, 371, 404, 555, 563, 569, 442, 
    394, 386, 413, 485, 336, 405, 411, 251, 
    489, 387, 406, 570, 407, 397, 428, 408, 
    398, 488, 395, 491, 409, 439, 615, 482, 
    308, 565, 380, 400, 401, 402, 458, 553
  ) 
  AND category_id != 264

Query time 0.00110

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "43.06"
    },
    "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": 69,
      "rows_produced_per_join": 69,
      "filtered": "100.00",
      "index_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`parent_id` in (440,554,385,441,568,562,412,393,410,305,371,404,555,563,569,442,394,386,413,485,336,405,411,251,489,387,406,570,407,397,428,408,398,488,395,491,409,439,615,482,308,565,380,400,401,402,458,553))",
      "cost_info": {
        "read_cost": "36.16",
        "eval_cost": "6.90",
        "prefix_cost": "43.06",
        "data_read_per_join": "216K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`category_id` <> 264)"
    }
  }
}