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Abstract The high-efficient development of heavy oil is difficult for offshore oil field. Based on the mature technology of onshore heavy oil thermal recovery, a new rod pumping technology of “heavy oil steam stimulation along with conventional sucker rod pumping system” is proposed. According to the structure space of aimed offshore platform, we designed one new kind of miniature hydraulic pumping unit with long-stroke, low pumping speed and compact structure. The paper also studies the offshore heavy oil thermal recovery well safety technology, establishes a leakage model of wellhead sealing and a mechanical model of sealed rubber sleeve on downhole nonlinear large deformation. The study shows that a series of equipment for offshore rod pumping oil recovery and the key technology of well safety lay a solid foundation for carrying out rod pumping of offshore heavy oil thermal recovery.