How can I integrate Zoho form with Zoho books so that every time a form is submitted it creates an invoice

How can I integrate Zoho form with Zoho books so that every time a form is submitted it creates an invoice

I currently have a zoho form that I have setup as a registration and payment page. When the form is submitted it also processes payroll. I'm looking to integrate the zoho form with zoho books so that every time a form is submitted and payment processes a customer will be cretaed/updated in zoho books and an invoice created. Right now I have to manually enter every transaction which is taking too much time. I previously had the zoho form go to a checkout page but that was causing issues where individuals weren't getting to the checkout page an payment was not being made. I was then needing to track down customers to get payment and I was loosing sales. The only thing nice about using a checkout page is that the checkout page would create an invoice. It seems as though if there is an option to collect payment directly within a form there should be an easy way to automatically generate an invoice within zoho books, just like checkout does.