SELECT 
  id_path 
FROM 
  cscart_categories 
WHERE 
  category_id IN (
    1, 16, 26, 27, 34, 40, 44, 66, 72, 88, 101, 
    107, 238, 240, 243, 257, 261, 306
  )

Query time 0.00041

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": 18,
      "filtered": 100,
      "index_condition": "cscart_categories.category_id in (1,16,26,27,34,40,44,66,72,88,101,107,238,240,243,257,261,306)"
    }
  }
}