Earlier, a group of Latin American countries and Canada said Mr Maduro was a threat to peace and security in the region and called for his immediate exit, a democratic transition and free elections.
Meeting in the Colombian capital, Bogotá, the Lima group urged the International Criminal Court to consider whether Venezuela was guilty of crimes against humanity for refusing to allow aid into the country.
At least two people died in Saturday's clashes between civilians and troops loyal to Mr Maduro that blocked the entrance of foreign aid organised by opposition leader and self-declared interim President Juan Guaidó.
Mr Maduro says the aid efforts are part of a US-orchestrated coup.
In other developments:
- More than 100 soldiers are said to have defected since the weekend. Speaking to the BBC, some of them say they fear for the safety of their families
- The US has announced new sanctions against four Venezuelan state governors allied with Mr Maduro
- The UN Security Council is due to meet later on Tuesday to discuss the crisis
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