SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    593, 435, 549, 556, 560, 453, 454, 582, 
    467, 459, 462, 594, 573, 561, 557, 455, 
    463, 461, 460, 550, 551, 598, 574, 584, 
    583, 465, 384, 595, 592, 487, 575, 596, 
    599, 572, 576, 654, 597, 466, 579, 580, 
    552, 581, 655, 566, 587, 464
  ) 
  AND category_id != 264

Query time 0.00093

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "42.11"
    },
    "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 (593,435,549,556,560,453,454,582,467,459,462,594,573,561,557,455,463,461,460,550,551,598,574,584,583,465,384,595,592,487,575,596,599,572,576,654,597,466,579,580,552,581,655,566,587,464))",
      "cost_info": {
        "read_cost": "35.31",
        "eval_cost": "6.80",
        "prefix_cost": "42.11",
        "data_read_per_join": "213K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`softwarepirmam_hewadelivard_cscart_4`.`cscart_categories`.`category_id` <> 264)"
    }
  }
}