SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    419, 444, 420, 445, 446, 447, 448, 449, 
    450, 451, 452, 453, 454, 455, 456, 457, 
    458, 459, 460, 461, 469, 470, 471, 472, 
    473, 474, 475, 476, 477
  ) 
  AND category_id != 414

Query time 0.00053

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "24.36"
    },
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": [
        "PRIMARY",
        "parent",
        "p_category_id"
      ],
      "key": "parent",
      "used_key_parts": [
        "parent_id"
      ],
      "key_length": "3",
      "rows_examined_per_scan": 38,
      "rows_produced_per_join": 38,
      "filtered": "100.00",
      "index_condition": "(`s2cart`.`cscart_categories`.`parent_id` in (419,444,420,445,446,447,448,449,450,451,452,453,454,455,456,457,458,459,460,461,469,470,471,472,473,474,475,476,477))",
      "cost_info": {
        "read_cost": "20.56",
        "eval_cost": "3.80",
        "prefix_cost": "24.36",
        "data_read_per_join": "134K"
      },
      "used_columns": [
        "category_id",
        "parent_id"
      ],
      "attached_condition": "(`s2cart`.`cscart_categories`.`category_id` <> 414)"
    }
  }
}

Result

category_id parent_id
464 461
465 461
466 461
467 461
468 461
462 461
463 461