SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(1921, 1927, 1938, 1933, 1942)

Query time 0.00038

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": ["parent"],
      "key": "parent",
      "key_length": "3",
      "used_key_parts": ["parent_id"],
      "rows": 20,
      "filtered": 100,
      "attached_condition": "cscart_categories.parent_id in (1921,1927,1938,1933,1942)",
      "using_index": true
    }
  }
}

Result