DK,
When the ECU stores a code regarding a sensor it DOES NOT necessarily mean that the sensor is BAD.
The sensor could be sending good information, for example that you are running rich or lean for too much of the time. The rich or lean condition may be caused by other problems, for example; a lean condition can be caused by a vacuum leak, or a rich condition can be caused by poor spark plugs, failing plug wires, or a clogged air filter, etc.
O-2 sensors are usually good for 50K to 100K miles. They usually fail gradually. They stop switching, that is they switch from rich to lean slower than they should.
If the ECU is not getting any signal it is usually a connection problem, say due to corrosion on the connection, or a wire that has broken, or is shorted to grounded.
So, save yourself some money and frustration and use the codes as a diagnostic tool. Do not assume that a code means that a sensor is bad, but use the code to assist in diagnosing the problem.
There are plenty of posts you can search regarding the sensors and the possibilities regarding any particular code number. Then there is this board and all the experience these folks will share with you in diagnosing a problem.
If you have stored codes tell us what they are, the year of the car, the milage on it, what the symptoms are you are experiencing, what you have tried so for, and anything else you think might help us to help you. rangerj