At least for a site based on Commerce Kickstart, simply edit the view, which you can get to from the gear on the cart itself when logged in:
/admin/structure/views/view/shopping_cart/edit/block
Under Advanced, no results behavior, remove the text result and summary for this block display only.
Save and you're done!
Except where otherwise noted, content on this site is licensed under a Creative Commons Attribution 3.0 Unported License.