I see two solutions here.
Do what I do and eat at places where you bus your own crap. Yeah they'll probably have a tip jar somewhere, and still leave the tip field on the credit card receipt, but it's easy to ignore those and not feel like too much of a jerk. Some of these places are borderline classy. You know... the ones that give you a buzzer to tell you that your order's ready. As a bonus, when the soda machine is out amongst the plebs, you're not stuck with an empty glass while the waitstaff strategically ignores you.
Maybe that's not a fine enough dining experience for some of you. I feel for you. But you're just going to have to wait for solution 2 to become technologically feasible. That's right... Robot Waiters!