SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    17243, 17287, 17245, 17247, 17288, 17290, 
    17291, 17246, 17244, 17289, 17242, 
    17248, 17241
  )

Query time 0.00060

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "3.84"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 16,
      "rows_produced_per_join": 16,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "2.24",
        "eval_cost": "1.60",
        "prefix_cost": "3.84",
        "data_read_per_join": "41K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (17243,17287,17245,17247,17288,17290,17291,17246,17244,17289,17242,17248,17241))"
    }
  }
}