This usually happens when a software or driver doesn't get uninstalled correctly or uninstaller doesn't remove it's entry from services. It's not a big problem because when you click the OK button, this error message will go away and you will never be bothered by this error message until you restart Windows.
To fix this problem, download and use autoruns from sysinternals.com
As you can see from the image above, there is an invalid entry in services tab and Image Path field shows "file not found". To check start-up type of this invalid service entry open service manager and sort by start-up type. You can run Service Manager from Control Panel -> Administrative Tools -> Services.
Our invalid entry has an Automatic start-up type as shown the image above so you can delete or set disabled this entry to fix this problem.
Hope your start-up error message problem solved and you get back to using your windows without any driver failed alert.
