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Don't cut into any joists unless you know and understand exactly what the building code says about topic. Notching or boring through a joist lowers its carrying capacity. You could end up with strutural problems.
But consider this: Do the light actually need to be cans? Perhaps some smaller halogens that are aimable would work, too. You could place the fixture to avoid the joist and then point the light to where you wanted it.
Maybe you should cruise by Handymanwire USA or the Breaktime forum at finehomebuilding.com and ask a few questions there. You'll get good answers from longtime DIYers and pros.
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+++++++++++Boom!
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