SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    286, 282, 272, 280, 266, 277, 273, 270, 
    285, 287, 289, 288, 292, 281, 279, 291, 
    269, 283, 275, 276, 274, 267, 278, 268, 
    271, 290, 284
  ) 
  AND category_id != 264

Query time 0.00051

JSON explain

{
  "query_block": {
    "select_id": 1,
    "nested_loop": [
      {
        "table": {
          "table_name": "cscart_categories",
          "access_type": "ALL",
          "possible_keys": ["PRIMARY", "parent", "p_category_id"],
          "rows": 131,
          "filtered": 50.38167953,
          "attached_condition": "cscart_categories.parent_id in (286,282,272,280,266,277,273,270,285,287,289,288,292,281,279,291,269,283,275,276,274,267,278,268,271,290,284) and cscart_categories.category_id <> 264"
        }
      }
    ]
  }
}