Basic URL routing with parameters

Question

I'm trying to build my own Routing classes to better understand PHP frameworks and to work with the MVC pattern. I've successifully built a routing system that can instantiate a controller and call a method from that particular controller.

My problem is now that I can't figure out how to call controller methods with parameters in the "pretty" url, like symfony does as I tried to understand.

I'm at this point:

$routes = "get"   => [
        "/"                 => [HomeController::class,        "index"],
        "/users"            => [UsersController::class,       "index"],
        "/users/edit"       => [UsersController::class,       "edit"],
];
$response = $routes[$method][$path];

class Router { 
....
public function dispatch($response) {
        $controller = $response[0];
        $action = $response[1];
        $params = [];
        $instance = new $controller();
        call_user_func_array([$instance, $action], $params);
    }
}

I would somehow like to add a third parameter to the $routes['get'] like this:

"/users/{user_id}/edit"       => [UsersController::class, "edit", [{user_id}],

and then instantiate my controller calling the edit method with $user_id as a parameter

class Router { 
....
public function dispatch($response) {
        $controller = $response[0];
        $action = $response[1];
        $params = $response[2];
        $instance = new $controller();
        call_user_func_array([$instance, $action], $params);
    }
}

class UsersController extends Controller {
....

public function edit($user_id){
        echo "Editing $user_id";
    }
}