Crude but effective:
sed -n -e '/(/,/)/p' filename | sed '1s/[^(]*(//;$s/)[^)]*$//'
EDIT:
(Corrected first solution.)
More sophisticated, but pulls the whole file into the hold space at once:
sed -n 'H;${x;s/^[^(]*(//;s/)[^)]*$//;p;}' filename