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

Query time 0.00099

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 (440,385,441,568,554,412,305,562,404,410,371,393,569,442,386,485,413,563,555,411,405,394,336,387,570,251,489,406,407,397,428,408,488,398,491,395,409,615,439,482,308,565,380,400,401,402,458,553))",
      "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)"
    }
  }
}