SELECT 
  category_id, 
  parent_id 
FROM 
  categories 
WHERE 
  parent_id IN(
    4827, 4828, 4829, 4830, 4834, 4831, 4832, 
    4837, 4838, 4839, 4840, 4833, 4844, 
    4842, 4843, 4841, 4845, 4836, 4835, 
    4888, 4887
  )

Query time 0.00057

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "4.88"
    },
    "table": {
      "table_name": "categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 21,
      "rows_produced_per_join": 21,
      "filtered": "100.00",
      "using_index": true,
      "cost_info": {
        "read_cost": "2.78",
        "eval_cost": "2.10",
        "prefix_cost": "4.88",
        "data_read_per_join": "54K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`goimagine`.`categories`.`parent_id` in (4827,4828,4829,4830,4834,4831,4832,4837,4838,4839,4840,4833,4844,4842,4843,4841,4845,4836,4835,4888,4887))"
    }
  }
}