Easy way is take the Tokyo Haneda Monorail to JR Hamamatsucho, Then take any line to get to Shimbashi (the next station). From Shimbashi, change to the Yokosuka/Sobu line and go in the direction where Tokyo Station is your next stop. Tsudanuma is on that track
http://www.jreast.co.jp/e/info/map_a4ol.pdf is the map I used