have internal links into code looking blocks

I would like to place links inside of a block that would look like a code block.

I believe it's impossible to do it in a real code block (though it'd be nice), but I don't really need it as I don't need nor the evaluation nor the syntax highlighting (so please don't mark as duplicate of a post that asks for functional code blocks).

I just need it to look the same (ideally independently from theme choice but I can compromise).

This is what obviously doesn't work but gives you an idea of the desired effect.

```{r,echo=TRUE, eval=FALSE} 
[print](#print)("hello world")
```

### print {#print}

print prints its argument and returns it invisibly (via invisible(x)).

The code will read print("hello world") and print will be clickable and take us to the section tagged with {#print}.

It needs to work with multiple lines of code.

---

Edit for bounty :

Current solution is really cool and deserves more visibility. However it will create a link for a sequence of character preceding a parenthesis. I would like now to have a link whenever a variable whose name is also the label of a ### header3 is found, with no trick using : #[]

So my markdown would only be the following, with the addition of js proposed in the solution, and clicking on print or summary in my code would link to the right section:

---
title: "Untitled"
output: html_document
---

```{r, eval = FALSE}
mod <- lm(mpg ~ hp, data = mtcars)
summary(lm(mpg ~ hp, data = mtcars))
summary(mtcars)
```

### lm

Lorem ipsum dolor sit amet, consetetur sadipscing elitr, sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet. Lorem ipsum dolor sit amet, consetetur sadipscing elitr, sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet. Lorem ipsum dolor sit amet, consetetur sadipscing elitr, sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet.   


### summary

Lorem ipsum dolor sit amet, consetetur sadipscing elitr, sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet. Lorem ipsum dolor sit amet, consetetur sadipscing elitr, sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet. Lorem ipsum dolor sit amet, consetetur sadipscing elitr, sed diam nonumy eirmod tempor invidunt ut labore et dolore magna aliquyam erat, sed diam voluptua. At vero eos et accusam et justo duo dolores et ea rebum. Stet clita kasd gubergren, no sea takimata sanctus est Lorem ipsum dolor sit amet.  

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