SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    1716, 1629, 317, 215, 309, 313, 1617, 
    315, 241, 902, 925, 1644, 1728
  ) 
  AND category_id != 264

Query time 0.00032

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost": 0.02086541,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "range",
          "possible_keys": ["PRIMARY", "parent", "p_category_id"],
          "key": "parent",
          "key_length": "3",
          "used_key_parts": ["parent_id"],
          "loops": 1,
          "rows": 58,
          "cost": 0.02086541,
          "filtered": 100,
          "attached_condition": "cscart_categories.parent_id in (1716,1629,317,215,309,313,1617,315,241,902,925,1644,1728) and cscart_categories.category_id <> 264",
          "using_index": true
        }
      }
    ]
  }
}

Result

category_id parent_id
337 215
339 215
658 215
1613 215
1614 215
1683 215
644 241
645 241
345 309
1687 309
1688 309
1689 309
357 313
359 313
361 313
363 313
571 313
572 313
573 313
602 315
603 315
604 315
605 315
606 315
607 315
319 317
325 317
465 317
480 317
1650 317
1655 317
978 902
979 902
980 902
981 902
982 902
983 902
984 902
985 902
986 902
987 902
1125 925
1126 925
1127 925
1618 1617
1619 1617
1620 1617
1621 1617
1622 1617
1623 1617
1624 1617
1625 1617
1626 1617
1627 1617
1630 1629