SELECT 
  id_path 
FROM 
  cscart_categories 
WHERE 
  category_id IN (
    1, 16, 26, 33, 43, 77, 107, 238, 240, 243, 
    257, 261, 304, 306
  )

Query time 0.00035

JSON explain

{
  "query_block": {
    "select_id": 1,
    "table": {
      "table_name": "cscart_categories",
      "access_type": "range",
      "possible_keys": ["PRIMARY"],
      "key": "PRIMARY",
      "key_length": "3",
      "used_key_parts": ["category_id"],
      "rows": 14,
      "filtered": 100,
      "index_condition": "cscart_categories.category_id in (1,16,26,33,43,77,107,238,240,243,257,261,304,306)"
    }
  }
}