怎么样用MATLAB读取数据中含括号和逗号的txt文件
 

2012-12-12T18:47:02.409 (0.166521863932779, 0.156503674026332, 0.464397207370651) (0.166521863932779, 0.156503674026332, 0.464397207370651) (1.632, -4.034, -8.211) (-0.6345, 1.4404, -0.6809) (0.026434, -0.081216, 0.024262)

2012-12-12T18:47:02.434 (0.166644036980419, 0.154513998679058, 0.468533637697878) (0.166644036980419, 0.154513998679058, 0.468533637697878) (1.544, -4.012, -8.389) (-0.6224, 1.4101, -0.7187) (0.218757, -0.048802, 0.038558)
每列的数据形如这样的格式，只需要读出括号中的三维坐标放进数组，请问应该怎么做？
本人小白，谢谢！