While it is possible to do a join on a comma separated field (using FIND_IN_SET for example), I don't think there is a way to do this for a foreign key.
MySQL doesn't have an explode function, and your idea would seem to suggest a varying number of columns on each row.
You can split them onto different rows if necessary but it is ugly. And more a good reason to NOT use comma separated fields
SELECT DISTINCT SUBSTRING_INDEX(SUBSTRING_INDEX(field, ',', 1 + units.i + tens.i * 10 + hundreds.i * 100), ',', -1)
FROM table_name
CROSS JOIN (SELECT 0 AS i UNION SELECT 1 UNION SELECT 2 UNION SELECT 3 UNION SELECT 4 UNION SELECT 5 UNION SELECT 6 UNION SELECT 7 UNION SELECT 8 UNION SELECT 9) units
CROSS JOIN (SELECT 0 AS i UNION SELECT 1 UNION SELECT 2 UNION SELECT 3 UNION SELECT 4 UNION SELECT 5 UNION SELECT 6 UNION SELECT 7 UNION SELECT 8 UNION SELECT 9) tens
CROSS JOIN (SELECT 0 AS i UNION SELECT 1 UNION SELECT 2 UNION SELECT 3 UNION SELECT 4 UNION SELECT 5 UNION SELECT 6 UNION SELECT 7 UNION SELECT 8 UNION SELECT 9) hundreds