Back to the OP. How can you end tipping?
Either don't dine out at restaurants that expect tips, OR don't tip. There is no law that says you must tip, and unless they include it automatically on your bill, the choice is yours.
Just know that stiffing a server really stands out, and if you intend to dine at the establishment again, and if they remember you, it may be a less than pleasant experience. Visine in your food not withstanding.