SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(242, 166, 179, 177, 241) 
  AND category_id != 264

Query time 0.00045

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "20.20"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "ALL",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "rows_examined_per_scan": 84,
      "rows_produced_per_join": 16,
      "filtered": "19.05",
      "cost_info": {
        "read_cost": "17.00",
        "eval_cost": "3.20",
        "prefix_cost": "20.20",
        "data_read_per_join": "41K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "((`pankajecarter_hunters`.`cscart_categories`.`parent_id` in (242,166,179,177,241)) and (`pankajecarter_hunters`.`cscart_categories`.`category_id` <> 264))"
    }
  }
}