Something like this:

use warnings;
use strict;

my $str = '12/22/2005 20 Notice of Agenda of Matters Scheduled for Hea
+ring (related document(s)2, 3, 4, 5, 6, 7, 8, 10, 11, 12, 13, 14, 15,
+ 16, [17], 18, 19) Filed
 by Fubar, Inc.. Hearing scheduled for 4/11/2013 at 11:30 AM';
 
 if($str=~m{related.+\)(.+?)\[(.+?)\](.+?)\)}){
   print join "\n" => map{ split/,\s*/,$_}($1,$2,$3);
 }
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