It clearly states that you need to install the virtualbox-dkms packages. You can follow these steps to solve the problem.
Install the virtualbox-dkms
sudo apt-get install virtualbox-dkms
Once you install those packages you also need to do the reconfiguration:
sudo dpkg-reconfigure virtualbox-dkms
sudo dpkg-reconfigure virtualbox
If your problem is still not fixed try installing the headers:
sudo apt-get install linux-headers-generic
