No this is not possible.
Sale ==> Invoice is possible, but reverse is not possible. The reason is, in Sale order there is Warehouse selection is needed whereas Invoicing has no control on Stock operations. So your purpose is not possible.
How to make possible your purpose ?
1) If No. of invoices are not too much then please create manually sale orders,
2) You can Export invoices and make importable file for Sale order.
3) Don't create Sale order, Just create Delivery Order and adjust stock. Create Sale order from next time.
As far as I know is not posible