SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    691, 688, 682, 681, 678, 675, 676, 653, 
    700, 699, 647, 662, 680, 701, 695, 694, 
    666, 11343, 708, 12848, 692, 669, 646, 
    689, 690, 661, 655, 667, 658, 648, 702, 
    684, 707, 670, 663, 1190, 698, 683, 693, 
    645, 11334, 11601, 679, 709
  )

Query time 0.00118

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "17.51"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 84,
      "rows_produced_per_join": 84,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "9.11",
        "eval_cost": "8.40",
        "prefix_cost": "17.51",
        "data_read_per_join": "219K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (691,688,682,681,678,675,676,653,700,699,647,662,680,701,695,694,666,11343,708,12848,692,669,646,689,690,661,655,667,658,648,702,684,707,670,663,1190,698,683,693,645,11334,11601,679,709))"
    }
  }
}