$re = '/\d+(?=[^][]*\])/';
$str = 'Test bla bla [us_image_slider ids="6207,6204,6203,6199,6484,6470" nav="thumbs" img_size="us_img_size_2"] some numbers 232323 [img="344"] and [daas 23344 2333]2323 ( hello 233 )';
preg_match_all($re, $str, $matches, PREG_SET_ORDER, 0);
// Print the entire match result
var_dump($matches);
Please keep in mind that these code samples are automatically generated and are not guaranteed to work. If you find any syntax errors, feel free to submit a bug report. For a full regex reference for PHP, please visit: http://php.net/manual/en/ref.pcre.php