Here is an example where I have used regular expressions in xpath.
This article includes a code sample that demonstrates how you can use the starts-with XML Path Language (XPath) string function to implement this requirement.
Here is my HTML source code:
Abrasion Resistance
Access Panels
Access Solutions
Accessories
Acoustic Performance
Affordable Playground Equipment
Aged Care Facilities
Aggregates
Air Circulation
Air Conditioning Filter Cleaning
Air Conditioning Maintenance
Air Conditioning Services
Air Flow
Air Fresheners
Air Movement
Alarm Monitoring
Alfresco
Alternative Waterproofing
Aluminium Composite
Amplifiers
Anodising
Anti Slip
Anti Vandal
Anti-graffiti
Anti-Rust
Apartments
Appliances
Here is the verifyElement command in Java to verify for the xpath element.
verifyTrue(selenium.isElementPresent(“//*[starts-with(@id, \"c100Item_P\")]“));

This is by NO MEANS using Regular Expressions in Selenium. You did use the standard XPath starts-with function. I hope Selenium uses XPath 2.0 so we can really use regular expressions.
If you have some example please feel free to share.