The Siege of Udo the Siege of Udo was a battle during the final years of the Azuchi-Momoyama period (17th century) of Japan. During this section of the Sekigahara campaign, Kato Kiyomasa had assisted the cause of the Tokugawa under Tokugawa Ieyasu in Kyūshū. Kato Kiyomasa had elaborated on his contributions by taking the castle of Udo after a long fought siege. Udo castle at the time had belonged to his old rival Konishi Yukinaga.