I have an Zend application with two modules (admin and public) and for public I have the following plugin to parse my friendly-url:
class Custom_Controller_Plugi
I'd say that you should use custom router. This is what router is for - determining parameters from URI. Now you just let the router do work for no reason. Because you then change the result of it's work.
Writing custom router is not that difficult and I would suggest you should do so. You can write there something like:
And you can add many more options. Also matching may be much faster because you can logically strucutre the URI decomposition. Normal router is dumb - it just matches URI to route regex and stops when match is found.