P0141 is for Bank 1 Sensor 2 HEATER circuit malfunction.
This is the sensor that is located in the exhaust pipe AFTER the catalytic converter.
You have 3 oxygen sensors, 2 Air/Fuel sensors, which are wide band oxygen sensors that are used to control the engine (like how much fuel to spray in).
The other sensor monitors the function of the catalytic converter.
The P0141 is indicating a problem with the oxygen sensor that monitors the catalytic converter.
It is located under the car......kind of under the passenger seat.
The wires go from the sensor, up through the floor of the vehicle and plug in under the front left corner of the passenger seat.
The heater should measure between 11 and 16 ohms at around room temperature.
This is as measured between the B+ (Pin 1) and HT Pin 2) pins on the connector.
The diagram for my 2003 indicate that
B+ (Pin 1) will have a BLACK with RED stripe wire.
HT (Pin 2) will have a BLUE with White stripe wire.
You DO NOT need to remove the whole seat to get to this connector.....just the plastic trim panel that goes along the bottom of the seat mount on the driver's side.
You unplug the sensor, and push the grommet and wires down through the floor, then access from below.
It looks like the top left wire to the connector is Pin 1 Light Blue with White stripe. and the top right wire will be Pin 2 Black with red stripe wire.
Here is a picture of the connectors on my 2003 sienna......under the passenger seat......front left corner
This is a picture of bank 1 sensor 2
Hopefully those nuts are not too rusted onto the exhaust pipe.
As you have changed the sensor.......hopefully, the heater is OK.
However, looking at the wiring diagram for my 2003 Sienna, the B+ goes to the ignition ON.....and should have power whenever the ignition switch is on (you could check this at the sensor connector) and the HT lead goes directly to the ECM (computer) pin 9 of connector "B".
Power comes into the sensor heater through the "B+" at pin 1 and the computer provides the ground path for the heater.