PO341 Code/Service Engine Soon light

Hi guys. Need help here. A week ago I had my Venture 98' smogged & she passed with no hitch. Three days after, the "Service Engine Soon" light came on after my filling up my gas tank full from a quarter full. After driving a couple of miles & stopping at a redlight, she started stutterring forward while accelerating from a stop position. I thought for a while she's gonna die on me but I just stepped on the gas pedal deeper & away we go. This was the one & only time that happened. Back home, I replaced the gas cap since I had a new one as spare. Checked all the fluids & possible wires. The SES light remained on for like three(3) days. Then just like yesterday, upon starting in the morning, it was gone. I thought maybe to my relief, the problem just went away. Nope. The following day, it went on again. And would you believe, after driving half a day, it was gone again until this present time. I borrowed an Actron scanner from a friend & it read: "PO341 Bank 1 CKT Range/Perf Camshaft Position Sensor A." Now, with all these symptoms & scanner reading, can somebody pls help me how to tackle this. Thanks much. By the way, great site.