DHAHA: Cuban President Raul Castro has urged the US to end its trade embargo after the two countries opened formal talks on restoring diplomatic relations.

He said the five-decade embargo "caused enormous human and economic damage".

But only the US Congress has the power to lift the embargo, and correspondents say many Republicans are still deeply opposed to this.

On Wednesday, US President Barack Obama and Castro agreed a number of measures to improve ties, reports BBC.com

They included the release by Cuba of US contractor Alan Gross and three Cubans held in the US.

Relations between the US and Cuba have been frozen since the early 1960s when the US broke off diplomatic relations and imposed a trade embargo after Cuba's revolution led to communism.

But in unprecedented moves on Wednesday, Obama said the "rigid and outdated policy" of isolating Cuba had clearly failed.

He said economic reforms were still needed in Cuba and human rights there needed to be upheld. But he said it was time for a new approach.

Obama added that the US was looking to open an embassy in Havana in the coming months.

The trade embargo on Cuba, however, cannot be lifted without approval by Congress and correspondents say Obama may struggle to pass the legislation.

** 'New chapter' in US-Cuba ties

BDST: 0850 HRS, DEC 18, 2014