A new parliamentary election has returned control of Congress to President Nicolas Maduro.
"The government is using political prisoners as bargaining chips,"said one Caracas-based political analyst after the announcement.
The US has openly said President Nicholas Maduro will never be allowed to govern again.
Juan Guaido accused Nicolas Maduro of using his uncle,to threaten him as he returned from an international tour rallying support to topple the president.
After meeting with the Colombian President and US Secretary of State,Guaido plans to travel to the World Economic Forum in Davos,Switzerland.
The tense 11-hour stand-off created a diplomatic embarrassment for Brazil's right-wing government as it hosts a BRICS summit.
US President Donald Trump said on Monday that Russia told the United States it had removed most of its people from Venezuela.
Vice-President of the opposition-controlled National Assembly said agents used a tow truck to drag his vehicle,with him inside,to one of their Caracas bases.
The aid includes medical supplies and electricity generators,which will be distributed to hospitals around the country.
The move by the government-backed National Constituent Assembly on Tuesday paves the way for Juan Guaido's prosecution.
in Venezuela,Trump is facing his own redline moment,like Barack Obama did in Syria,and again,it'with Vladimir Putin of Russia.