Can you simply add a custom Javascript button to "Invoices Service" page layout that'd have
history.back()
// or history.go(-1)
// or location.href = '/{!Invoice_Service__c.Invoice__c}';
// or same but with button type URL and not JS
// or if you really want - do something fancy with "Recent Items"?
Call the button "back to Invoice" or something?
Other than that - I guess you'd have to override view action with VF page, maybe even display <apex:detail>
to salvage normal layout but do some crazy stuff in the controller... Not worth the effort I'd say.
Or teach your users about the "back" button in the browser, what happens when they click the lookup to "Invoice" etc ;) I'm not usability expert but I'd say you should have a good reason to make custom buttons like that ;)
P.S. I've also seen a project where they had very complex hierarchical data structure and they decided to implement kind of path on the top of the page (I think it's called "breadcrumbs").