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Michael Adebolajo, 28, was ­assessed for mental health ­problems three times after the 25-year-old soldier’s murder but passed each time.

He and Michael Adebowale, 22, are accused of hacking Fusilier Rigby to death with a meat cleaver and knives near Woolwich barracks, south-east London, on May 22.

The jury heard that in the days after the attack Adebolajo told forensic psychiatrist Tim McInnerney that his actions had been “on the basis of his religious beliefs and because British soldiers were killing people in the Middle East”.

But the psychiatrist, who had previously worked at Broadmoor Hospital, said: “Mr Adebolajo presented no signs or symptoms of mental disorder. He was polite and co-operative, and able to give a coherent account of himself.”

UK-born Adebolajo claimed he was ashamed of being British because of the association with “pillage, rape and murder” of innocent people.

Adebolajo and Adebowale both deny murder, as well as attempted murder of a police officer and conspiracy to murder a police officer.

Reading Mr McInnerney’s statement, Oliver Glasgow, prosecuting, said: “His actions had been on the basis of his religious beliefs, because British soldiers were killing Muslims in the Middle East.

There were no signs of regret or remorse for his ­actions, and he stated he presented no risk to civilians, medical staff or police, but was a continuing risk to the British military.”

Adebolajo and Adebowale were shot by police marksmen at the scene of the attack after the attack on dad-of-one Fusilier Rigby.

In an interview with detectives on June 1, which was played to the jury, he said he was particularly disgusted with politicians including David Cameron, the Miliband brothers and Nick Clegg, but most of all with former Prime Minister Tony Blair.

Fusilier Rigby’s widow, Rebecca, 30, the mother of his two-year-old son Jack, left the court in tears as the interviews, in which Adebolajo was wrapped in a blue blanket, were shown.

Earlier, Richard Whittam QC showed jurors pictures of the scene in Woolwich, including a forensic tent covering Fusilier Rigby’s body.

The court saw close-up photos of a machete, a wooden-handled knife, and a rust-coloured revolver recovered by officers, as well as the mangled wreck of the Vauxhall Tigra allegedly used by Adebolajo and Adebowale to run over the victim.

The trial continues.