These are all dependencies for most recent VirtualBox 5.1.18 installed from the Oracle repository for Ubuntu 16.04.2 LTS:
Dependencies:
5.1.18-114002~Ubuntu~xenial - debconf (18 1.1) debconf-2.0 (0 (null)) libc6 (2 2.15) libcurl3 (2 7.16.2) libdevmapper1.02.1 (2 2:1.02.97) libgcc1 (2 1:3.0) libgl1-mesa-glx (16 (null)) libgl1 (0 (null)) libpng12-0 (2 1.2.13-4) libpython2.7 (2 2.7) libqt5core5a (2 5.5.0) libqt5gui5 (18 5.3.0) libqt5gui5-gles (2 5.3.0) libqt5opengl5 (18 5.0.2) libqt5opengl5-gles (2 5.0.2) libqt5printsupport5 (2 5.0.2) libqt5widgets5 (2 5.2.0) libqt5x11extras5 (2 5.1.0) libsdl1.2debian (2 1.2.11) libssl1.0.0 (2 1.0.0) libstdc++6 (2 5.2) libvpx3 (2 1.5.0) libx11-6 (0 (null)) libxcb1 (0 (null)) libxcursor1 (4 1.1.2) libxext6 (0 (null)) libxinerama1 (0 (null)) libxml2 (2 2.7.4) libxmu6 (0 (null)) libxt6 (0 (null)) zlib1g (2 1:1.1.4) psmisc (0 (null)) adduser (0 (null)) virtualbox (0 (null)) virtualbox:i386 (0 (null)) virtualbox-guest-additions-iso (0 (null)) virtualbox-guest-additions-iso:i386 (0 (null)) virtualbox-ose (0 (null)) libasound2 (0 (null)) libpulse0 (0 (null)) libsdl-ttf2.0-0 (0 (null)) kmod (16 (null)) kldutils (16 (null)) module-init-tools (0 (null)) linux-headers-generic (16 (null)) linux-headers-generic-pae (16 (null)) linux-headers-686-pae (16 (null)) linux-headers-amd64 (16 (null)) linux-headers-2.6-686 (16 (null)) linux-headers-2.6-amd64 (16 (null)) linux-headers (0 (null)) linux-image (0 (null)) gcc (0 (null)) make (16 (null)) build-essential (16 (null)) dpkg-dev (0 (null)) binutils (0 (null)) pdf-viewer (0 (null)) libgl1 (0 (null)) virtualbox (0 (null)) virtualbox:i386 (0 (null)) virtualbox-5.1:i386 (32 (null))
Provides:
5.1.18-114002~Ubuntu~xenial - virtualbox (= )
From that we can see that all dependent packages are available through the default installation. No need to install any future package release.
You may have accidentally downloaded or installed a Virtual Box version built for Ubuntu 16.10 or another distribution. Please see this answer on how to add the Oracle repository to your sources and make sure you use the appropriate Ubuntu release for the sources line:
lsb_release -sc
sudo apt install -f
.