First of all, for security reasons, you shouldn't be using IE any more than is absolutely necessary. Use something like Firefox or Opera instead.
After that, have you tried updating Acrobat Reader to 7.0.2 yet? It may or may not solve the problem, but it's a good first step.
On my XP system. Using Acrobat 7.0 Reader.
Once or twice a day when exiting the forums [maybe because I am at the forums most of the time, could happen elsewhere], I get an application error.
Titled: Acrobat IEHelper: IEXPLORE.EXE - Application error
Inside the text box: The instruction at "0x01deca87" referenced memory at "0x01deca87". The memory could not be "read".
Click on OK to terminate the program.
If I do CAD, highlight Acrobat IEHelper and right click and go to process it shows crss.exe a system file, size 4,120 K.
When I click terminate it is removed from the running list.
I find nothing in Adobe about an IEHelper.
Any thoughts on the subject?