I am having a similar problem on 10.13.3:
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wnm3MacBook:MacOS wnm3$ ./VirtualBox
VirtualBox: Error -610 in supR3HardenedMainInitRuntime!
VirtualBox: dlopen("/Applications/VirtualBox.app/Contents/MacOS/VBoxRT.dylib",) failed: <NULL>
VirtualBox: Tip! It may help to reinstall VirtualBox.
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fsck_hfs started at Wed Mar 21 16:10:24 2018
** /dev/rdisk4s1 (NO WRITE)
Executing fsck_hfs (version hfs-407.30.1).
** Checking Journaled HFS Plus volume.
The volume name is VirtualBox
** Checking extents overflow file.
** Checking catalog file.
** Checking multi-linked files.
** Checking catalog hierarchy.
** Checking extended attributes file.
** Checking volume bitmap.
** Checking volume information.
** The volume VirtualBox appears to be OK.
fsck_hfs completed at Wed Mar 21 16:10:24 2018
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wnm3MacBook:download wnm3$ kextstat |grep virtualbox
168 3 0xffffff7f84705000 0x64000 0x64000 org.virtualbox.kext.VBoxDrv (5.2.9) E1AD075C-9B51-3ABA-8D52-03BCCE7B8EE0 <7 5 4 3 1>
170 0 0xffffff7f84769000 0x8000 0x8000 org.virtualbox.kext.VBoxUSB (5.2.9) 8380476E-3ECC-3274-9E06-9FB2B1D34501 <169 168 55 7 5 4 3 1>
171 0 0xffffff7f84771000 0x5000 0x5000 org.virtualbox.kext.VBoxNetFlt (5.2.9) 038684CE-5BFA-3703-A6DF-C19A1D04FF8A <168 7 5 4 3 1>
172 0 0xffffff7f84776000 0x6000 0x6000 org.virtualbox.kext.VBoxNetAdp (5.2.9) 16335F95-4BBE-3321-83EC-72181A94DCD1 <168 5 4 1>