SELECT 
  category_id, 
  parent_id 
FROM 
  q_categories 
WHERE 
  parent_id IN(
    191, 418, 185, 13, 192, 402, 383, 493, 
    6, 50, 193, 77, 38, 494, 12, 194, 190, 
    184, 299, 199, 422, 202, 428
  )

Query time 0.00075

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "134.53"
    },
    "table": {
      "table_name": "q_categories",
      "access_type": "ALL",
      "possible_keys": [
        "parent"
      ],
      "rows_examined_per_scan": 598,
      "rows_produced_per_join": 95,
      "filtered": "16.05",
      "cost_info": {
        "read_cost": "115.33",
        "eval_cost": "19.20",
        "prefix_cost": "134.53",
        "data_read_per_join": "253K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`portal`.`q_categories`.`parent_id` in (191,418,185,13,192,402,383,493,6,50,193,77,38,494,12,194,190,184,299,199,422,202,428))"
    }
  }
}