You need to damage anyone of them to drop there hp to a certain amount..Well i choose yammy, what i did is i let chad to be the tanker then uryuu at his back to damage him with skills and inoue at there back to heal them when needed.. After a few turns ichigo will show up.. just keep attacking your target.. After a few turns again urahara and yoruichi will show up too.. then attack your target until they retreat.. Sorry about my english! Oops i forgot to tell you that when they attack you, don't counter it just defend..
Dont get near them. Position Chad in front but not near yammy so when you use the skill of chad you can hit him w/out hurting you also put Uryuu at back of him then use its skill. Orihime is just for healing if ever.