SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    544, 543, 1812, 552, 563, 561, 8285, 1813, 
    565, 553, 8662, 555, 8284, 557, 547, 
    545, 8282, 566, 13340, 8281, 558, 559, 
    550, 548
  )

Query time 0.00065

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "7.65"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 35,
      "rows_produced_per_join": 35,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "4.15",
        "eval_cost": "3.50",
        "prefix_cost": "7.65",
        "data_read_per_join": "91K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (544,543,1812,552,563,561,8285,1813,565,553,8662,555,8284,557,547,545,8282,566,13340,8281,558,559,550,548))"
    }
  }
}