SELECT 
  category_id, 
  parent_id 
FROM 
  q_categories 
WHERE 
  parent_id IN(
    169, 172, 176, 177, 179, 180, 183, 188, 
    244, 481, 518, 529
  )

Query time 0.00026

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "28.81"
    },
    "table": {
      "table_name": "q_categories",
      "access_type": "range",
      "possible_keys": [
        "parent"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 12,
      "rows_produced_per_join": 12,
      "filtered": "100.00",
      "index_condition": "(`portal`.`q_categories`.`parent_id` in (169,172,176,177,179,180,183,188,244,481,518,529))",
      "cost_info": {
        "read_cost": "26.41",
        "eval_cost": "2.40",
        "prefix_cost": "28.81",
        "data_read_per_join": "31K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ]
    }
  }
}