you can use awk
$ echo R1CcC.TXT | awk '{sub(/.*[0-9]/,"");sub(".TXT","")}{print}'
CcC
or
$ echo R1CcC.TXT | awk '{gsub(/.*[0-9]|\.TXT$/,"");print}'
CcC
and if sed is really what you want
$ echo R9XXX.TXT | sed 's/R[0-9]\(.*\)\.TXT/\1/'
XXX
source
to share