SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    18163, 18160, 18161, 18162, 18158, 19644, 
    18340, 18155, 18159, 19271, 18154
  )

Query time 0.00074

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "4.01"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 17,
      "rows_produced_per_join": 17,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "2.31",
        "eval_cost": "1.70",
        "prefix_cost": "4.01",
        "data_read_per_join": "44K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (18163,18160,18161,18162,18158,19644,18340,18155,18159,19271,18154))"
    }
  }
}