Here is a solution using strsplit ....
> x <- 'Lorem ipsum dolor sit amet[245], consectetur adipiscing (325). Deinde prima illa, quae in congressu[232]. solemus: Quid tu, inquit, huc? Sequitur disserendi ratio cognitioque 295. naturae;' > strsplit(x, '[^0-9]+')[[1]][3:4]
Or using the R base to extract these values.
> regmatches(x, gregexpr('[[(]\\K\\d+(?=[])](?!,))', x, perl=T))[[1]]
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