For your protection, yes, it should be inspected
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Not exactly sure what your question is and you need to make sure you are in compliance with electrical code for your jurisdiction. But, generally speaking you install a large breaker (let's say 100A 2 pole breaker to power the sub panel) just as you would install any other breaker in the presently used (hot) panel, and the proper sized cable then goes from old to new and terminates on the main lugs of the new panel. Ground and neutral are usually isolated from each other in the sub panel but depends on other factors as to location of the sub panel, etc.
If the sub panel is in the same building remove the bonding screw that bonds the neutral bar to the panels enclosure. Remove the ground from the second ground rod. The sub panel is grounded by the ground wire from the sub panel's feeder. If the panel is separate from the main building treat the sub panel as a separate service. It will need its own ground rods and ground wire from the rods to the neutral bar of the sub panel. Leave the bonding screw in. There will be no ground wire in the conduit between the two services.
Depending on how many breakers you have in your exisiting panel if you only have a old 6 or 8 circuit panel then I would suggest a new panel, In the newer building world where you have a 20 or 30 circuit panel then I would suggest a sub panel.
That would depend upon how many amps will be used in the sub-panel. For example, a 30-A subpanel would need a minimum of 10 AWG feeder conductors.
First you need to determine if addition of the new breakers will exceed the 200A service under normal operating conditions. If so you will need to go to power company and increase service and put in a larger main panel. If you have the capacity for the extra current you can add a sub-panel and add the breakers there as well as the breakers you will remove from main panel to accommodate the sub-panel breaker. Another way depends on what breakers are in current panel. There are some breakers that can be duplexed in the same space as a single breaker.