you should do as follows:

sudo apt-get install virtualbox-ose-source  (if you can not do this cmd successfully please search the key word “virtualbox-ose-source” in baidu. Get into “Ubuntu –在 lucid 中的 virtualbox-ose-source 软件包详细信息” item)
in “Download virtualbox-ose-source” click “all” and get into “http://packages.ubuntu.com/lucid/all/virtualbox-ose-source/download”  click “security.ubuntu.com/ubuntu” download the deb package.

And dpki the download deb package, and use the same way to download dependency package

sudo dpkg -i virtualbox-ose-source_3.1.6-dfsg-2ubuntu2.1_all.deb  

Selecting previously unselected package virtualbox-ose-source.
(Reading database ... 281390 files and directories currently installed.)
Preparing to unpack virtualbox-ose-source_3.1.6-dfsg-2ubuntu2.1_all.deb ...
Unpacking virtualbox-ose-source (3.1.6-dfsg-2ubuntu2.1) ...
dpkg: dependency problems prevent configuration of virtualbox-ose-source:
 virtualbox-ose-source depends on virtualbox-ose-dkms (>= 3.1.6-dfsg-2ubuntu2.1); however:
  Package virtualbox-ose-dkms is not installed.
 
dpkg: error processing package virtualbox-ose-source (--install):
 dependency problems - leaving unconfigured
Errors were encountered while processing:
 virtualbox-ose-source

use the same way to download the “virtualbox-ose-dkms_4.1.12-dfsg-2ubuntu0.6_all.deb”

 sudo dpkg -i virtualbox-ose-dkms_4.1.12-dfsg-2ubuntu0.6_all.deb
Selecting previously unselected package virtualbox-ose-dkms.
(Reading database ... 281393 files and directories currently installed.)
Preparing to unpack virtualbox-ose-dkms_4.1.12-dfsg-2ubuntu0.6_all.deb ...
Unpacking virtualbox-ose-dkms (4.1.12-dfsg-2ubuntu0.6) ...
dpkg: dependency problems prevent configuration of virtualbox-ose-dkms:
 virtualbox-ose-dkms depends on virtualbox-dkms; however:
  Package virtualbox-dkms is not installed.
 
dpkg: error processing package virtualbox-ose-dkms (--install):
 dependency problems - leaving unconfigured
Errors were encountered while processing:
 virtualbox-ose-dkms

 sudo apt-get install virtualbox-dkms

sudo apt-get install virtualbox-ose-source
and then run
/etc/init.d/vboxdrv setup
bash: /etc/init.d/vboxdrv: No such file or directory

cd /usr/src/virtualbox-4.3.10
sudo make

sudo modprobe  vboxdrv.ko
sudo insmod vboxdrv.ko

end you can open the virtualbox correctly