As of AngularJS 1.1.3, you can now do exactly what you want using the new catch-all parameter.
https://github.com/angular/angular.js/commit/7eafbb98c64c0dc079d7d3ec589f1270b7f6fea5
From the commit:
This allows routeProvider to accept parameters that matches substrings even when they contain slashes if they are prefixed with an asterisk instead of a colon. For example, routes like
edit/color/:color/largecode/*largecode
will match with something like thishttp://appdomain.com/edit/color/brown/largecode/code/with/slashs
.
I have tested it out myself (using 1.1.5) and it works great. Just keep in mind that each new URL will reload your controller, so to keep any kind of state, you may need to use a custom service.