Is it necessary to execute additional SELECT and INSERT IGNORE queries each time while inserting data into MySQL table that depends on FOREIGN KEYs?

I have 4 MySQL tables with depending on each other via FOREIGN KEYs.

Please checkout this below schema for tables structure:

CREATE DATABASE IF NOT EXISTS courses
    CHARACTER SET latin1
    COLLATE latin1_bin;

CREATE TABLE IF NOT EXISTS courses.institution
(
    icode INT UNSIGNED NOT NULL AUTO_INCREMENT,
    iname VARCHAR(255) NOT NULL,
    PRIMARY KEY (icode),
    UNIQUE (iname)
)
    ENGINE = InnoDB;

CREATE TABLE IF NOT EXISTS courses.cities
(
    ccode INT UNSIGNED NOT NULL AUTO_INCREMENT,
    cname VARCHAR(255) NOT NULL,
    PRIMARY KEY (ccode),
    UNIQUE (cname)
)
    ENGINE = InnoDB;

CREATE TABLE IF NOT EXISTS courses.skills
(
    scode INT UNSIGNED NOT NULL AUTO_INCREMENT,
    sname VARCHAR(255) NOT NULL,
    PRIMARY KEY (scode),
    UNIQUE (sname)
)
    ENGINE = InnoDB;

CREATE TABLE IF NOT EXISTS courses.relation
(
    icode INT UNSIGNED NOT NULL,
    scode INT UNSIGNED NOT NULL,
    ccode INT UNSIGNED NOT NULL,
    UNIQUE KEY ucols (icode, scode, ccode),
    FOREIGN KEY (icode) REFERENCES courses.institution (icode),
    FOREIGN KEY (scode) REFERENCES courses.skills (scode),
    FOREIGN KEY (ccode) REFERENCES courses.cities (ccode)
)
    ENGINE = InnoDB;

Currently I'm executing this below queries to insert just one record in relation table.

It costs 4 INSERT queries and 3 SELECT subqueries for just one insert on each time.

INSERT IGNORE INTO institution(iname) VALUES ('ABC Learners');
INSERT IGNORE INTO skills(sname) VALUES ('PHP');
INSERT IGNORE INTO cities(cname) VALUES ('Bangalore');

INSERT IGNORE INTO relation (icode, scode, ccode) VALUES (
    (SELECT icode FROM institution WHERE iname = 'ABC Learners'),
    (SELECT scode FROM skills WHERE sname = 'PHP'),
    (SELECT ccode FROM cities WHERE cname = 'Bangalore')
);

Is it necessary to execute all this queries every time? or is there any better way to perform this action in single or few queries?

Checkout this below simple PHP code. In this code for just inserting 7 records on relation table it executes 4 INSERT queries with 3 SELECT subqueries on each record.

It costs total 7 * 7 = 49 queries for 7 records. How to solve this?

<?php

$db = new mysqli('localhost', 'user', '****', 'courses');

$records = [
    ['ABC Learners', 'CSS', 'Bangalore'],
    ['ABC Learners', 'PHP', 'Bangalore'],
    ['ABC Learners', 'HTML', 'Bangalore'],
    ['ABC Learners', 'PHP', 'Hyderabad'],
    ['XYZ Solutions', 'PHP', 'Hyderabad'],
    ['XYZ Solutions', 'JAVA', 'Hyderabad'],
    ['XYZ Solutions', 'JAVA', 'Bangalore'],
];

foreach ($records as $record) {

    list($institute, $skill, $city) = $record;

    $db->query("INSERT IGNORE INTO institution (iname) VALUES ('{$institute}')");
    $db->query("INSERT IGNORE INTO skills (sname) VALUES ('{$skill}')");
    $db->query("INSERT IGNORE INTO cities (cname) VALUES ('{$city}')");

    $db->query(
        "INSERT IGNORE INTO relation (icode, scode, ccode) VALUES (" .
        "(SELECT icode FROM institution WHERE iname = '{$institute}'), " .
        "(SELECT scode FROM skills WHERE sname = '{$skill}'), " .
        "(SELECT ccode FROM cities WHERE cname = '{$city}'))"
    );
}

$db->close();

from Is it necessary to execute additional SELECT and INSERT IGNORE queries each time while inserting data into MySQL table that depends on FOREIGN KEYs?