OK, there is a chance that this is a legit file so don't act in haste and repent at leisure.
Now when this happens again, try clicking the Advanced option, I don't know if in avast6 there is a submit for analysis as there used to be in avast5, see image1 example of avast5 alert. If so then opt to send it for analysid and for the time being select Ignore for the option. But do not select the 'Do not tell me about this rootkit in the future.' Otherwise you would never know if the avast analysis corrected this detection.
I have XP Pro SP3 and I'm not getting any alert on this during the anti-rootkit scan (approx 8 minutes after boot) and I have that C:\WINDOWS\system32\drivers\ndisuio.sys file. See image2 for info on the file on my system, does yours match ?
See image3 as that driver file is running under explorer.exe.
So I'm at a bit of a loss as to what is happening on your system.