SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    22862, 22876, 22866, 22858, 22870, 22865, 
    22861, 22860, 22871, 22863, 22868, 
    22864, 22872, 22867, 22875, 22869, 
    22859, 22877, 22874, 22873
  ) 
  AND category_id != 1

Query time 0.00006

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "parent", "p_category_id"],
          "key": "parent",
          "key_length": "3",
          "used_key_parts": ["parent_id"],
          "rows": 20,
          "filtered": 100,
          "index_condition": "cscart_categories.parent_id in (22862,22876,22866,22858,22870,22865,22861,22860,22871,22863,22868,22864,22872,22867,22875,22869,22859,22877,22874,22873)",
          "attached_condition": "cscart_categories.category_id <> 1"
        }
      }
    ]
  }
}