SELECT 
  category_id, 
  parent_id 
FROM 
  cscart_categories 
WHERE 
  parent_id IN(
    864, 503, 502, 863, 504, 505, 506, 507, 
    509, 853, 916
  )

Query time 0.00042

Explain
id select_type table type possible_keys key key_len ref rows Extra
1 SIMPLE cscart_categories range parent parent 3 19 Using index condition

Result

category_id parent_id
503 502
504 502
505 502
506 502
508 502
509 502
853 502
864 863
507 863
916 863