We have developed the surgical robot system with heart-beat canceller for coronary artery bypass grafting. This robot system accomplishes the compensation by synchronized with heart-beat. But the ability of synchronization is not enough because of transfer element backlash. Therefore the purpose of the research is a design and evaluation of the control system for synchronization at high speed. We designed the control system using P-D controller and evaluated frequency response and then we did synchronization experiment. In the result the synchronization was not achieved because the error of heart-beat measurement was large. So we need to reduce this error in the future.