Hattori Hanzō
With the help of his ninja vassal Hattori Hanzō, Matsudaira Motoyasu (later known as Tokugawa Ieyasu) laid siege to and stormed the castle. The Matsudaira force captured the castle from Udono Nagateru, a general of the Imagawa. Hanzo saving the daughters of Tokugawa Ieyasu from the Kaminogo castle with a small group of ninja and also capturing many high ranking members of Imagawa clan. Motoyasu obtained many useful hostages to use against the Imagawa, who were then in possession of his own family.