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I know that people like the saying "when seconds count, the police are only minutes away", but in this situation with all the above risks noted, I think the best solution would be to open your cell phone under the table and dial 911 as soon as you realize something is up. With out being noticed, try to announce your location and that the restaurant is being robbed. If they are robbing each table individually, they will certainly still be at it by the time the police get there if it's in a decent sized city and anywhere near the police station. There will likely be many many people in the restaurant doing this all at the same time. They won't notice all of them doing it, so couldn't possibly stop everyone from calling. This is of course assuming that they haven't started shooting.