SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    22561, 22560, 22568, 22557, 22563, 22555, 
    22554, 22558, 22567, 22569, 22566, 
    22565, 22564, 22562, 22570, 22559, 
    22556
  )

Query time 0.00067

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "5.21"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 23,
      "rows_produced_per_join": 23,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "2.91",
        "eval_cost": "2.30",
        "prefix_cost": "5.21",
        "data_read_per_join": "60K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (22561,22560,22568,22557,22563,22555,22554,22558,22567,22569,22566,22565,22564,22562,22570,22559,22556))"
    }
  }
}