A group of senior doctors has called for a British resident held in Guantanamo Bay to be released, warning of his "fragile medical condition".

The medics said that Shaker Aamer was suffering from conditions including post-traumatic stress disorder and asthma and his continued detention was having an "appalling effect" on his health and that of his family.

Prime Minister David Cameron is expected to again raise Mr Aamer's case with President Barack Obama during his visit to Washington.

In a letter to the Daily Mail the health experts, including consultants and professors, said Mr Aamer had "pressing medical concerns".

The signatories include three members of the Foreign Office pro bono medical panel, which can assist with advice for Britons held overseas but which the doctors said had so far not been allowed to help Mr Aamer.

The letter was organised by David Nicholl, a consultant neurologist, human rights activist and member of the council of the Royal College of Physicians, and is signed by physicians, including professors of neurology and public health, consultants and GPs.

All signed the letter in a personal capacity.

Mr Aamer, who is originally from Saudi Arabia but moved to Battersea, London, and has a wife and four children there, has been incarcerated at the controversial US detention centre since 2002.

The letter said in April last year Mr Aamer had his "first independent medical assessment that revealed that he was suffering from post-traumatic stress disorder, asthma, oedema and chronic urinary retention".

They called for his return to the UK "given his fragile medical condition" and added "we would be happy to assist in his medical management should this be required".

The medics added: "In 2006, we tried to raise this issue with the Foreign Office pro bono medical panel - which can assist with medical advice in Britons held overseas.

"This request, to date, has been rejected, as the Foreign Office does not want to set a precedent for someone who is a British resident, not citizen.

"We would point out that Shaker's ongoing detention without trial is having an appalling effect not just on his health, but those of his family, especially his wife - all of whom are British citizens.

"This on its own is a clear breach of the Aamer family's right to a family life and would warrant the assistance of this committee should the Foreign Office deem to do so."

The call comes as the US announced the release from the naval base of five men from the Yemen, who were captured in Pakistan as suspected al Qaida fighters but had been cleared for release since at least 2009.

The Pentagon said four of the men went to Oman and one to Estonia.