This video will show you how to fix iTunes 16xx errors.
1. Download iReb here
2. Right click iReb and set compatibility to windows XP (service pack 2) if you are on Windows 7 or Windows Vista and run as administrator.
3. Run iReb, select the iDevice and follow the on screen instructions to put you device in DFU mode. The steps are as follows:
I. Hold down the power button for 3 seconds
II. Continue holding the power button and start holding the home button and continue HOLDING BOTH for 10 seconds
III. Let go of power and continue holding home button for 20 seconds (or until iReb recognize your iDevice).
4. You should now be able to restore in iTunes without getting the 16xx errors.
If you try to restore in iTunes and get a different error, you will have to fix that error and repeat steps 1-3. Because iTunes will kick your iDevice out of the pwned DFU.