Hi Gary,
You actually need to use Marketo Tokens rather than SFDC Merge Fields. For Contact ID and Contact First Name, the equivalent Marketo Tokens are {{lead.SFDC Id}} and {{lead.First Name}}. Since Marketo Leads can be either a SFDC Contact or Lead, these Tokens can also give you SFDC Lead ID and SFDC Lead First Name.
As for Account Contact Role, as long as you have this field syncing to Marketo, you will be able to pull in this data from a Marketo Token. My guess would be the Marketo Token will be: {{lead.Account Contact Role}}
SFDC Account ID is a little trickier. Unfortunately, Marketo does not store the SFDC Account ID. However, as a workaround, you could create a custom field in SFDC on the Contact or Account and have it populate with the Account ID. Then you will be able to use this custom field as a Marketo Token.
In the end, the URL should look something like:
http://www.clicktools.com/survey?iv=1b49jdhei319h&q1={{lead.Custom Field Account ID}}&q2={{lead.SFDC Id}}&q3={{lead.Account Contact Role}}&q7={{lead.First Name}}
Hope that helps get you started, but please let me know if you have any further questions.
-Conor