This is the first boss of the game. When you encounter the Queen, immediately scan her, as it will allow you to see where her weak point is (her mouth). Stay locked on and dash to the left/right to avoid her mouth beams. Pay attention to the forcefield surrounding the Queen and look for an opportunity when the gaps between them line up with her open mouth. Use up any missiles you have left, and then use Charge Beam shots to finish the Queen easily.
Like all bosses, the Parasite Queen is a one-time scan.