Recently, the concept of phase synchronization of two weakly coupled oscillators has raised a great research interest and has been applied to characterize synchronization phenomenon in physiological data. Phase synchronization of cardiorespiratory coupling is often studied by a synchrogram analysis, a graphical tool investigating the relationship between instantaneous phases of two signals. Although several techniques have been proposed to automatically quantify the synchrogram, most of them require a preselection of a phase-locking ratio by trial and error. One technique does not require this information; however, it is based on the power spectrum of phase's distribution in the synchrogram, which is vulnerable to noise. This study aims to introduce a new technique to automatically quantify the synchrogram by studying its dynamic structure. Our technique exploits recurrence plot analysis, which is a well-established tool for characterizing recurring patterns and nonstationarities in experiments. We applied our technique to detect synchronization in simulated and measured infants' cardiorespiratory data. Our results suggest that the proposed technique is able to systematically detect synchronization in noisy and chaotic data without preselecting the phase-locking ratio. By embedding phase information of the synchrogram into phase space, the phase-locking ratio is automatically unveiled as the number of attractors.